From ff07a2205857c1c9cda4e1802fe057615b1f99d9 Mon Sep 17 00:00:00 2001
From: Victor Fiorin de Carvalho <victorfiorinx@gmail.com>
Date: Mon, 24 Nov 2025 18:28:19 +0100
Subject: [PATCH 1/2] Integrate VRU and pedestrian functionality into OpenCDA

---
 opencda/assets/map_diego/map3.xodr            | 190321 ---------------
 opencda/core/common/vehicle_manager.py        |      6 +
 .../core/sensing/perception/o3d_lidar_libs.py |    309 +-
 .../sensing/perception/obstacle_pedestrian.py |    235 +
 .../sensing/perception/obstacle_vehicle.py    |     13 +-
 .../sensing/perception/perception_manager.py  |    531 +-
 .../customize/core/common/vehicle_manager.py  |    101 +-
 .../sensing/perception/perception_manager.py  |      4 +-
 opencda/customize/ml_libs/ml_manager.py       |     21 +-
 opencda/customize/v2x/CAservice.py            |    127 +
 opencda/customize/v2x/CPservice.py            |    217 +
 opencda/customize/v2x/LDM.py                  |    570 +-
 opencda/customize/v2x/LDMutils.py             |     94 +-
 opencda/customize/v2x/PCservice.py            |    374 +
 opencda/customize/v2x/PLDMservice.py          |    965 +
 opencda/customize/v2x/aux.py                  |     28 +-
 opencda/customize/v2x/intruderApp.py          |    148 +
 opencda/customize/v2x/v2x_agent.py            |      5 +
 .../scenario_testing/config_yaml/default.yaml |     22 +-
 .../config_yaml/ms_van3t_example_ml.yaml      |    241 +-
 .../ms_van3t_platooning_4lane_intruder.yaml   |      4 +-
 .../config_yaml/pedestrian_test.yaml          |    246 +
 .../platoon_joining_2lanefree_carla.yaml      |    107 +
 .../platoon_joining_2lanefree_cosim.yaml      |    122 +
 .../platoon_joining_town06_carla.yaml         |    169 +
 .../platoon_stability_2lanefree_carla.yaml    |     58 +
 .../config_yaml/platoon_test_town5.yaml       |    253 +
 .../config_yaml/platoon_test_town6.yaml       |    363 +
 .../config_yaml/single_2lanefree_carla.yaml   |     33 +
 .../config_yaml/single_2lanefree_cosim.yaml   |     41 +
 .../single_intersection_town06_carla.yaml     |     41 +
 .../config_yaml/single_town05_cosim.yaml      |     43 +
 .../config_yaml/single_town06_carla.yaml      |     52 +
 .../config_yaml/single_town06_cosim.yaml      |     59 +
 .../v2xp_datadump_town06_carla.yaml           |     91 +
 opencda/scenario_testing/ms_van3t_example.py  |      8 +-
 .../scenario_testing/ms_van3t_example_ml.py   |     23 +-
 ..._example_ml_auto.py => pedestrian_test.py} |     62 +-
 .../platoon_joining_2lanefree_carla.py        |    102 +
 .../platoon_joining_2lanefree_cosim.py        |    102 +
 .../platoon_joining_town06_carla.py           |     92 +
 .../platoon_stability_2lanefree_carla.py      |    172 +
 .../scenario_testing/platoon_test_docker.py   |     78 +
 .../scenario_testing/platoon_test_town5.py    |    114 +
 .../scenario_testing/platoon_test_town6.py    |    109 +
 .../single_2lanefree_carla.py                 |     87 +
 .../single_2lanefree_cosim.py                 |     76 +
 .../single_intersection_town06_carla.py       |     78 +
 .../scenario_testing/single_town05_cosim.py   |     68 +
 .../scenario_testing/single_town06_carla.py   |     80 +
 .../scenario_testing/single_town06_cosim.py   |     73 +
 opencda/scenario_testing/tracking_test.py     |     67 +
 .../utils/ms_van3t_cosim_api.py               |    142 +-
 .../scenario_testing/utils/proto/carla_pb2.py |     60 +-
 .../utils/proto/carla_pb2_grpc.py             |     66 +
 opencda/scenario_testing/utils/sim_api.py     |    559 +-
 .../v2xp_datadump_town06_carla.py             |     96 +
 57 files changed, 7518 insertions(+), 190810 deletions(-)
 delete mode 100644 opencda/assets/map_diego/map3.xodr
 create mode 100644 opencda/core/sensing/perception/obstacle_pedestrian.py
 create mode 100644 opencda/customize/v2x/CAservice.py
 create mode 100644 opencda/customize/v2x/CPservice.py
 create mode 100644 opencda/customize/v2x/PCservice.py
 create mode 100644 opencda/customize/v2x/PLDMservice.py
 create mode 100644 opencda/customize/v2x/intruderApp.py
 create mode 100644 opencda/scenario_testing/config_yaml/pedestrian_test.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_town06_carla.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
 create mode 100644 opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
 rename opencda/scenario_testing/{ms_van3t_example_ml_auto.py => pedestrian_test.py} (63%)
 create mode 100644 opencda/scenario_testing/platoon_joining_2lanefree_carla.py
 create mode 100644 opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
 create mode 100644 opencda/scenario_testing/platoon_joining_town06_carla.py
 create mode 100644 opencda/scenario_testing/platoon_stability_2lanefree_carla.py
 create mode 100644 opencda/scenario_testing/platoon_test_docker.py
 create mode 100644 opencda/scenario_testing/platoon_test_town5.py
 create mode 100644 opencda/scenario_testing/platoon_test_town6.py
 create mode 100644 opencda/scenario_testing/single_2lanefree_carla.py
 create mode 100644 opencda/scenario_testing/single_2lanefree_cosim.py
 create mode 100644 opencda/scenario_testing/single_intersection_town06_carla.py
 create mode 100644 opencda/scenario_testing/single_town05_cosim.py
 create mode 100644 opencda/scenario_testing/single_town06_carla.py
 create mode 100644 opencda/scenario_testing/single_town06_cosim.py
 create mode 100644 opencda/scenario_testing/tracking_test.py
 create mode 100644 opencda/scenario_testing/v2xp_datadump_town06_carla.py

diff --git a/opencda/assets/map_diego/map3.xodr b/opencda/assets/map_diego/map3.xodr
deleted file mode 100644
index 01539dd50..000000000
--- a/opencda/assets/map_diego/map3.xodr
+++ /dev/null
@@ -1,190321 +0,0 @@
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-        <connection id="3" incomingRoad="11274" connectingRoad="15599" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11274" connectingRoad="15600" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="11274" connectingRoad="15601" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="6" incomingRoad="12801" connectingRoad="15602" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="7" incomingRoad="12801" connectingRoad="15603" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="8" incomingRoad="12801" connectingRoad="15604" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-    </junction>
-    <junction name="973488421" id="259">
-        <connection id="0" incomingRoad="11563" connectingRoad="15605" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="1" incomingRoad="11563" connectingRoad="15606" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="2" incomingRoad="11563" connectingRoad="15607" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="3" incomingRoad="12267" connectingRoad="15608" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="4" incomingRoad="12267" connectingRoad="15609" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="5" incomingRoad="12267" connectingRoad="15610" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="6" incomingRoad="11423" connectingRoad="15611" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="7" incomingRoad="11423" connectingRoad="15612" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="8" incomingRoad="11423" connectingRoad="15613" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-    </junction>
-    <junction name="973488433" id="43">
-        <connection id="0" incomingRoad="13167" connectingRoad="15614" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="1" incomingRoad="11206" connectingRoad="15615" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-    </junction>
-    <junction name="973488435" id="233">
-        <connection id="0" incomingRoad="11385" connectingRoad="15616" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="1" incomingRoad="11385" connectingRoad="15617" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="2" incomingRoad="11385" connectingRoad="15618" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="3" incomingRoad="12798" connectingRoad="15619" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="4" incomingRoad="12798" connectingRoad="15620" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="5" incomingRoad="12798" connectingRoad="15621" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="6" incomingRoad="12832" connectingRoad="15622" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="7" incomingRoad="12832" connectingRoad="15623" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="8" incomingRoad="12832" connectingRoad="15624" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="9" incomingRoad="12732" connectingRoad="15625" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="10" incomingRoad="12732" connectingRoad="15626" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="11" incomingRoad="12732" connectingRoad="15627" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-    </junction>
-    <junction name="973488437" id="104">
-        <connection id="0" incomingRoad="11258" connectingRoad="15628" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="1" incomingRoad="11258" connectingRoad="15629" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11258" connectingRoad="15630" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="3" incomingRoad="12049" connectingRoad="15631" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
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-        <connection id="4" incomingRoad="12049" connectingRoad="15632" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="12049" connectingRoad="15633" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488445" id="238">
-        <connection id="0" incomingRoad="11392" connectingRoad="15634" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11392" connectingRoad="15635" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11392" connectingRoad="15636" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="11392" connectingRoad="15637" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="12863" connectingRoad="15638" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="12863" connectingRoad="15639" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="6" incomingRoad="12863" connectingRoad="15640" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="7" incomingRoad="12863" connectingRoad="15641" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="8" incomingRoad="12243" connectingRoad="15642" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="9" incomingRoad="12243" connectingRoad="15643" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="10" incomingRoad="12243" connectingRoad="15644" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="11" incomingRoad="12243" connectingRoad="15645" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="12" incomingRoad="11590" connectingRoad="15646" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="13" incomingRoad="11590" connectingRoad="15647" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="14" incomingRoad="11590" connectingRoad="15648" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="15" incomingRoad="11590" connectingRoad="15649" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488450" id="252">
-        <connection id="0" incomingRoad="11405" connectingRoad="15650" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11405" connectingRoad="15651" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11405" connectingRoad="15652" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="11570" connectingRoad="15653" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11570" connectingRoad="15654" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="11570" connectingRoad="15655" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="6" incomingRoad="12257" connectingRoad="15656" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="7" incomingRoad="12257" connectingRoad="15657" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="8" incomingRoad="12257" connectingRoad="15658" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488451" id="633">
-        <connection id="0" incomingRoad="12791" connectingRoad="15659" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="12795" connectingRoad="15660" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488454" id="256">
-        <connection id="0" incomingRoad="11411" connectingRoad="15661" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11411" connectingRoad="15662" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11411" connectingRoad="15663" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="11560" connectingRoad="15664" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11560" connectingRoad="15665" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="11560" connectingRoad="15666" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="6" incomingRoad="12263" connectingRoad="15667" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="7" incomingRoad="12263" connectingRoad="15668" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="8" incomingRoad="12263" connectingRoad="15669" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488455" id="271">
-        <connection id="0" incomingRoad="12310" connectingRoad="15670" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488461" id="632">
-        <connection id="0" incomingRoad="12825" connectingRoad="15671" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="12825" connectingRoad="15672" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488470" id="120">
-        <connection id="0" incomingRoad="11273" connectingRoad="15673" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488502" id="467">
-        <connection id="0" incomingRoad="11659" connectingRoad="15674" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-            <laneLink from="-2" to="-2"/>
-        </connection>
-        <connection id="2" incomingRoad="11659" connectingRoad="15675" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="11788" connectingRoad="15676" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11788" connectingRoad="15677" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="13127" connectingRoad="15678" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="6" incomingRoad="13127" connectingRoad="15679" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488509" id="38">
-        <connection id="0" incomingRoad="12823" connectingRoad="15680" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="12823" connectingRoad="15681" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="12239" connectingRoad="15682" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="12239" connectingRoad="15683" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11203" connectingRoad="15684" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="11203" connectingRoad="15685" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488510" id="97">
-        <connection id="0" incomingRoad="11250" connectingRoad="15686" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11250" connectingRoad="15687" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11250" connectingRoad="15688" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="12041" connectingRoad="15689" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="12041" connectingRoad="15690" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="12041" connectingRoad="15691" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488526" id="42">
-        <connection id="0" incomingRoad="11792" connectingRoad="15692" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11792" connectingRoad="15693" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="11792" connectingRoad="15694" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="11207" connectingRoad="15695" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="11207" connectingRoad="15696" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="11207" connectingRoad="15697" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="973488535" id="105">
-        <connection id="0" incomingRoad="11259" connectingRoad="15698" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="11259" connectingRoad="15699" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="12793" connectingRoad="15700" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="3" incomingRoad="12793" connectingRoad="15701" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="4" incomingRoad="12050" connectingRoad="15702" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-        <connection id="5" incomingRoad="12050" connectingRoad="15703" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="9753398196" id="480">
-        <connection id="0" incomingRoad="11682" connectingRoad="15704" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-        </connection>
-    </junction>
-    <junction name="985118597" id="612">
-        <connection id="0" incomingRoad="12292" connectingRoad="15705" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-            <laneLink from="-2" to="-2"/>
-            <laneLink from="-3" to="-3"/>
-        </connection>
-    </junction>
-    <junction name="985118614" id="576">
-        <connection id="0" incomingRoad="12296" connectingRoad="15706" contactPoint="start">
-            <laneLink from="-3" to="-1"/>
-        </connection>
-        <connection id="1" incomingRoad="12296" connectingRoad="15707" contactPoint="start">
-            <laneLink from="-3" to="-1"/>
-        </connection>
-        <connection id="2" incomingRoad="12296" connectingRoad="15708" contactPoint="start">
-            <laneLink from="-1" to="-1"/>
-            <laneLink from="-2" to="-2"/>
-            <laneLink from="-3" to="-3"/>
-        </connection>
-    </junction>
-</OpenDRIVE>
diff --git a/opencda/core/common/vehicle_manager.py b/opencda/core/common/vehicle_manager.py
index 108dfafcd..869d5d023 100644
--- a/opencda/core/common/vehicle_manager.py
+++ b/opencda/core/common/vehicle_manager.py
@@ -26,6 +26,9 @@
 from opencda.core.common.data_dumper import DataDumper
 from opencda.customize.platooning.platooning_behavior_agent import PlatooningBehaviorAgentExtended
 from opencda.core.application.platooning.intruder_behavior_agent import IntruderBehaviorAgent
+import matplotlib.pyplot as plt
+import numpy as np
+import time
 
 
 class VehicleManager(object):
@@ -150,6 +153,7 @@ def __init__(
 
         cav_world.update_vehicle_manager(self)
 
+
         # self.msvan3tAgent = Msvan3tAgent(cav_world, self.vid, self.perception_manager, self.localizer, self.carla_map, self.vehicle)
 
     def set_destination(
@@ -239,6 +243,8 @@ def run_step(self, target_speed=None, target_acceleration=None):
 
         control = self.controller.run_step(target_speed, target_pos, target_acceleration)
 
+
+
         # dump data
         if self.data_dumper:
             self.data_dumper.run_step(self.perception_manager,
diff --git a/opencda/core/sensing/perception/o3d_lidar_libs.py b/opencda/core/sensing/perception/o3d_lidar_libs.py
index 5abc98401..483e2981a 100644
--- a/opencda/core/sensing/perception/o3d_lidar_libs.py
+++ b/opencda/core/sensing/perception/o3d_lidar_libs.py
@@ -17,6 +17,8 @@
 import opencda.core.sensing.perception.sensor_transformation as st
 from opencda.core.sensing.perception.obstacle_vehicle import \
     is_vehicle_cococlass, ObstacleVehicle
+from opencda.core.sensing.perception.obstacle_pedestrian import \
+     ObstacleVRU
 from opencda.core.sensing.perception.static_obstacle import StaticObstacle
 
 VIRIDIS = np.array(cm.get_cmap('plasma').colors)
@@ -95,6 +97,7 @@ def o3d_visualizer_init(actor_id):
         Initialize open3d visualizer.
 
     """
+    # o3d.visualization.draw_geometries([o3d.geometry.TriangleMesh.create_coordinate_frame()]) #test
     vis = o3d.visualization.Visualizer()
     vis.create_window(window_name=str(actor_id),
                       width=800,
@@ -102,8 +105,12 @@ def o3d_visualizer_init(actor_id):
                       left=480,
                       top=270)
     vis.get_render_option().background_color = [0, 0, 0]
-    vis.get_render_option().point_size = 1
+    vis.get_render_option().point_size = 0.5
     vis.get_render_option().show_coordinate_frame = True
+    vis.get_view_control().camera_local_translate(10, 0, 0)
+    # ctr.set_zoom(5)
+    # ctr.set_constant_z_near(5)
+    # ctr.scale(2)
 
     return vis
 
@@ -140,7 +147,7 @@ def o3d_visualizer_show(vis, count, point_cloud, objects, LDM=False):
     LDM_geometries = []
     for key, object_list in objects.items():
         # we only draw vehicles for now
-        if key != 'vehicles':
+        if key != 'vehicles' and key != 'VRU':
             continue
         for object_ in object_list:
             if LDM is True:
@@ -173,7 +180,7 @@ def o3d_visualizer_show(vis, count, point_cloud, objects, LDM=False):
     time.sleep(0.001)
 
     for key, object_list in objects.items():
-        if key != 'vehicles':
+        if key != 'vehicles' and key != 'VRU':
             continue
         for object_ in object_list:
             if object_.o3d_obb is not None:
@@ -219,46 +226,46 @@ def o3d_visualizer_showLDM(vis, count, point_cloud, objects, groundTruth):
     LDM_geometries = []
     for key, object_list in objects.items():
         # we only draw vehicles for now
-        if key != 'vehicles':
+        if key != 'vehicles' and key != 'VRU':
             continue
         for object_ in object_list:
             if object_.perception.line_set is not None:
                 geometry = object_.perception.line_set
-                if object_.connected:
+                if not object_.detected:
                     colors = [[0, 1, 0] for _ in range(12)]
                     geometry.colors = o3d.utility.Vector3dVector(colors)
-                elif not object_.connected and object_.onSight and object_.tracked:
+                elif object_.detected and object_.onSight and object_.tracked:
                     colors = [[1, 0, 0] for _ in range(12)]
                     geometry.colors = o3d.utility.Vector3dVector(colors)
-                elif not object_.connected and not object_.onSight and object_.CPM:
+                elif object_.detected and not object_.onSight and object_.CPM:
                     colors = [[1, 0.6, 0] for _ in range(12)]
                     geometry.colors = o3d.utility.Vector3dVector(colors)
-                elif not object_.connected and not object_.onSight and object_.tracked:
+                elif object_.detected and not object_.onSight and object_.tracked:
                     colors = [[0.7, 0, 0] for _ in range(12)]
                     geometry.colors = o3d.utility.Vector3dVector(colors)
                 else:
                     continue
             else:
                 geometry = object_.perception.o3d_bbx
-                if object_.connected:
+                if not object_.detected:
                     geometry.color = (0, 1, 0)
-                elif not object_.connected and object_.onSight and object_.tracked:
+                elif object_.detected and object_.onSight and object_.tracked:
                     geometry.color = (1, 0, 0)
-                elif not object_.connected and not object_.onSight and object_.CPM:
+                elif object_.detected and not object_.onSight and object_.CPM:
                     geometry.color = (1, 0.6, 0)
-                elif not object_.connected and object_.tracked:
+                elif object_.detected and object_.tracked:
                     geometry.color = (0.5, 0, 0)
                 else:
                     continue
-
             vis.add_geometry(geometry)
+
             LDM_geometries.append(geometry)
 
     # vis.add_geometry(test_rotation())
 
     for key, object_list in groundTruth.items():
         # we only draw vehicles for now
-        if key != 'vehicles':
+        if key != 'vehicles' and key != 'VRU':
             continue
         for object_ in object_list:
             geometry = object_.o3d_bbx
@@ -387,15 +394,28 @@ def o3d_camera_lidar_fusion(objects,
                                  dtype=np.int), axis=0)[0][0]
         y_common = mode(np.array(np.abs(select_points[:, 1]),
                                  dtype=np.int), axis=0)[0][0]
-        points_inlier = (np.abs(select_points[:, 0]) > x_common - 3) & \
-                        (np.abs(select_points[:, 0]) < x_common + 3) & \
-                        (np.abs(select_points[:, 1]) > y_common - 3) & \
-                        (np.abs(select_points[:, 1]) < y_common + 3)
+        points_inlier = (np.abs(select_points[:, 0]) > x_common - 5) & \
+                        (np.abs(select_points[:, 0]) < x_common + 5) & \
+                        (np.abs(select_points[:, 1]) > y_common - 5) & \
+                        (np.abs(select_points[:, 1]) < y_common + 5)
         select_points = select_points[points_inlier]
 
-        if select_points.shape[0] < 4:
+        min_points_required = {  # Map label to minimum required points
+            2: 4,  # vehicle
+            5: 4,  # tuck
+            7: 4,  # bus
+            0: 4,  # pedestrian
+            1: 4,  # bicycle
+            3: 4,  # motorcycle
+        }
+
+        if select_points.shape[0] < min_points_required.get(label, 0):
             continue
 
+        pcd = o3d.geometry.PointCloud()
+        pcd.points = o3d.utility.Vector3dVector(select_points)
+        labels = np.array(pcd.cluster_dbscan(eps=0.7, min_points=min_points_required.get(label, 0), print_progress=False))
+
         # to visualize 3d lidar points in o3d visualizer, we need to
         # revert the x coordinates
         select_points[:, :1] = -select_points[:, :1]
@@ -441,6 +461,257 @@ def o3d_camera_lidar_fusion(objects,
             else:
                 objects['vehicles'] = [obstacle_vehicle]
         # todo: refine the category
+        elif label in (0, 1, 3):
+            obstacle_VRU = ObstacleVRU(corner, aabb, confidence=confidence)
+            if label == 0:
+                obstacle_VRU.itsType = 'pedestrian'
+            elif label == 1:
+                obstacle_VRU.itsType = 'bicycle'
+            elif label == 3:
+                obstacle_VRU.itsType = 'motorcycle'
+            if obb is not None:
+                obstacle_VRU.o3d_obb = obb
+                obstacle_VRU.bounding_box.extent.x = obb.extent[0] / 2
+                obstacle_VRU.bounding_box.extent.y = obb.extent[1] / 2
+                yaw = ego_pos.rotation.yaw - np.degrees(np.arctan2(np.array(obb.R)[1, 0], np.array(obb.R)[0, 0]))
+                # if label == 0:
+                #     obstacle_VRU.itsType = 'pedestrian'
+                # elif label == 1:
+                #     obstacle_VRU.itsType = 'bicycle'
+                # elif label == 3:
+                #     obstacle_VRU.itsType = 'motorcycle'
+
+                obstacle_VRU.yaw = yaw
+            if 'VRU' in objects:
+                objects['VRU'].append(obstacle_VRU)
+            else:
+                objects['VRU'] = [obstacle_VRU]
+        # we regard or other obstacle rather than vehicle as static class
+        else:
+            static_obstacle = StaticObstacle(corner, aabb)
+            if 'static' in objects:
+                objects['static'].append(static_obstacle)
+            else:
+                objects['static'] = [static_obstacle]
+
+    return objects
+
+def o3d_camera_lidar_fusion2(objects,
+                            yolo_bbx,
+                            lidar_3d,
+                            projected_lidar,
+                            lidar_sensor,
+                            ego_pos = None):
+
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = o3d.utility.Vector3dVector(lidar_3d[:, :3])
+    labels = np.array(pcd.cluster_dbscan(eps=0.7, min_points=10, print_progress=False))
+    max_label = labels.max()
+    bounding_boxes = []
+    for i in range(max_label + 1):
+        indices = np.where(labels == i)[0]
+        cluster_points = np.asarray(pcd.points)[indices]
+        if len(cluster_points) > 4:
+            cluster_pcd = o3d.geometry.PointCloud()
+            cluster_pcd.points = o3d.utility.Vector3dVector(cluster_points)
+            aabb = cluster_pcd.get_axis_aligned_bounding_box()
+            obb = None
+            try:
+                obb = cluster_pcd.get_oriented_bounding_box()
+                obb.color = (0, 1, 0)
+            except RuntimeError as e:
+                # print("Unable to compute the oriented bounding box:", e)
+                pass
+            # get the eight corner of the bounding boxes.
+            corner = np.asarray(aabb.get_box_points())
+            # covert back to unreal coordinate
+            corner[:, :1] = -corner[:, :1]
+            corner = corner.transpose()
+            # extend (3, 8) to (4, 8) for homogenous transformation
+            corner = np.r_[corner, [np.ones(corner.shape[1])]]
+            # project to world reference
+            corner = st.sensor_to_world(corner, lidar_sensor.get_transform())
+            corner = corner.transpose()[:, :3]
+
+            obstacle_vehicle = ObstacleVehicle(corner, aabb, confidence=0.9)
+            if obb is not None:
+                obstacle_vehicle.o3d_obb = obb
+                obstacle_vehicle.bounding_box.extent.x = obb.extent[0]/2
+                obstacle_vehicle.bounding_box.extent.y = obb.extent[1]/2
+                yaw = ego_pos.rotation.yaw - np.degrees(np.arctan2(np.array(obb.R)[1, 0], np.array(obb.R)[0, 0]))
+                obstacle_vehicle.yaw = yaw
+            if 'vehicles' in objects:
+                objects['vehicles'].append(obstacle_vehicle)
+            else:
+                objects['vehicles'] = [obstacle_vehicle]
+
+    return objects
+
+def o3d_camera_lidar_fusion3(objects,
+                            yolo_bbx,
+                            lidar_3d,
+                            projected_lidar,
+                            lidar_sensor,
+                            ego_pos = None):
+    """
+    Utilize the 3D lidar points to extend the 2D bounding box
+    from camera to 3D bounding box under world coordinates.
+
+    Parameters
+    ----------
+    objects : dict
+        The dictionary contains all object detection results.
+
+    yolo_bbx : torch.Tensor
+        Object detection bounding box at current photo from yolov5,
+        shape (n, 5)->(n, [x1, y1, x2, y2, label])
+
+    lidar_3d : np.ndarray
+        Raw 3D lidar points in lidar coordinate system.
+
+    projected_lidar : np.ndarray
+        3D lidar points projected to the camera space.
+
+    lidar_sensor : carla.sensor
+        The lidar sensor.
+
+    ego_pos : carla.transform
+        The ego vehicle's transform.
+    Returns
+    -------
+    objects : dict
+        The update object dictionary that contains 3d bounding boxes.
+    """
+
+    # convert torch tensor to numpy array first
+    if yolo_bbx.is_cuda:
+        yolo_bbx = yolo_bbx.cpu().detach().numpy()
+    else:
+        yolo_bbx = yolo_bbx.detach().numpy()
+
+    for i in range(yolo_bbx.shape[0]):
+        detection = yolo_bbx[i]
+        # 2d bbx coordinates
+        x1, y1, x2, y2 = int(detection[0]), int(detection[1]), \
+            int(detection[2]), int(detection[3])
+        label = int(detection[5])
+        confidence = float(detection[4])
+
+        # choose the lidar points in the 2d yolo bounding box
+        points_in_bbx = \
+            (projected_lidar[:, 0] > x1) & (projected_lidar[:, 0] < x2) & \
+            (projected_lidar[:, 1] > y1) & (projected_lidar[:, 1] < y2) & \
+            (projected_lidar[:, 2] > 0.0)
+        # ignore intensity channel
+        select_points = lidar_3d[points_in_bbx][:, :-1]
+
+        if select_points.shape[0] == 0:
+            continue
+
+        min_points_required = {  # Map label to minimum required points
+            2: 4,  # vehicle
+            5: 4,  # tuck
+            7: 4,  # bus
+            0: 4,  # pedestrian
+            1: 4,  # bicycle
+            3: 4,  # motorcycle
+        }
+
+        if select_points.shape[0] < min_points_required.get(label, 0):
+            continue
+
+        pcd = o3d.geometry.PointCloud()
+        pcd.points = o3d.utility.Vector3dVector(select_points)
+        labels = np.array(pcd.cluster_dbscan(eps=0.7, min_points=3, print_progress=False))
+
+        if label in [1, 3] and (np.unique(labels) != -1).sum() > 1:
+            # Combine all cluster points if it is a bicycle or motorcycle
+            # to also include the rider
+            final_object_points = select_points[labels != -1]
+
+        else:
+            unique_labels, counts = np.unique(labels[labels != -1], return_counts=True)
+            if len(unique_labels) == 0:
+                continue
+
+            main_cluster_label = unique_labels[counts.argmax()]
+            main_cluster_indices = np.where(labels == main_cluster_label)[0]
+            final_object_points = select_points[main_cluster_indices]
+
+
+        if final_object_points.shape[0] < 4:
+            continue
+
+        # to visualize 3d lidar points in o3d visualizer, we need to
+        # revert the x coordinates
+        final_object_points[:, :1] = -final_object_points[:, :1]
+
+        # create o3d.PointCloud object
+        o3d_pointcloud = o3d.geometry.PointCloud()
+        o3d_pointcloud.points = o3d.utility.Vector3dVector(final_object_points)
+        o3d_pointcloud.paint_uniform_color([0, 1, 1])
+        # add o3d bounding box
+        aabb = o3d_pointcloud.get_axis_aligned_bounding_box()
+        aabb.color = (1, 0, 0)
+
+        obb = None
+        if np.asarray(o3d_pointcloud.points).shape[0] >= 4:
+            try:
+                obb = o3d_pointcloud.get_oriented_bounding_box()
+                obb.color = (0, 1, 0)
+            except RuntimeError as e:
+                print("Unable to compute the oriented bounding box:", e)
+                pass
+
+        # get the eight corner of the bounding boxes.
+        corner = np.asarray(aabb.get_box_points())
+        # covert back to unreal coordinate
+        corner[:, :1] = -corner[:, :1]
+        corner = corner.transpose()
+        # extend (3, 8) to (4, 8) for homogenous transformation
+        corner = np.r_[corner, [np.ones(corner.shape[1])]]
+        # project to world reference
+        corner = st.sensor_to_world(corner, lidar_sensor.get_transform())
+        corner = corner.transpose()[:, :3]
+
+        if is_vehicle_cococlass(label):
+            obstacle_vehicle = ObstacleVehicle(corner, obb, confidence=confidence)
+            if obb is not None:
+                obstacle_vehicle.o3d_obb = obb
+                obstacle_vehicle.bounding_box.extent.x = obb.extent[0]/2
+                obstacle_vehicle.bounding_box.extent.y = obb.extent[1]/2
+                yaw = ego_pos.rotation.yaw - np.degrees(np.arctan2(np.array(obb.R)[1, 0], np.array(obb.R)[0, 0]))
+                obstacle_vehicle.yaw = yaw
+            if 'vehicles' in objects:
+                objects['vehicles'].append(obstacle_vehicle)
+            else:
+                objects['vehicles'] = [obstacle_vehicle]
+        # todo: refine the category
+        elif label in (0, 1, 3):
+            obstacle_VRU = ObstacleVRU(corner, obb, confidence=confidence)
+            if label == 0:
+                obstacle_VRU.itsType = 'pedestrian'
+            elif label == 1:
+                obstacle_VRU.itsType = 'bicycle'
+            elif label == 3:
+                obstacle_VRU.itsType = 'motorcycle'
+            if obb is not None:
+                obstacle_VRU.o3d_obb = obb
+                obstacle_VRU.bounding_box.extent.x = obb.extent[0] / 2
+                obstacle_VRU.bounding_box.extent.y = obb.extent[1] / 2
+                yaw = ego_pos.rotation.yaw - np.degrees(np.arctan2(np.array(obb.R)[1, 0], np.array(obb.R)[0, 0]))
+                # if label == 0:
+                #     obstacle_VRU.itsType = 'pedestrian'
+                # elif label == 1:
+                #     obstacle_VRU.itsType = 'bicycle'
+                # elif label == 3:
+                #     obstacle_VRU.itsType = 'motorcycle'
+
+                obstacle_VRU.yaw = yaw
+            if 'VRU' in objects:
+                objects['VRU'].append(obstacle_VRU)
+            else:
+                objects['VRU'] = [obstacle_VRU]
         # we regard or other obstacle rather than vehicle as static class
         else:
             static_obstacle = StaticObstacle(corner, aabb)
diff --git a/opencda/core/sensing/perception/obstacle_pedestrian.py b/opencda/core/sensing/perception/obstacle_pedestrian.py
new file mode 100644
index 000000000..dfe7d48bc
--- /dev/null
+++ b/opencda/core/sensing/perception/obstacle_pedestrian.py
@@ -0,0 +1,235 @@
+# -*- coding: utf-8 -*-
+"""
+Obstacle pedestrian class to save object detection.
+"""
+
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+import sys
+
+import carla
+import numpy as np
+import open3d as o3d
+
+import opencda.core.sensing.perception.sensor_transformation as st
+from opencda.core.common.misc import get_speed_sumo
+
+
+class BoundingBox(object):
+    """
+    Bounding box class for obstacle pedestrian.
+
+    Params:
+    -corners : nd.nparray
+        Eight corners of the bounding box. (shape:(8, 3))
+    Attributes:
+    -location : carla.location
+        The location of the object.
+    -extent : carla.vector3D
+        The extent of  the object.
+    """
+
+    def __init__(self, corners):
+        center_x = np.mean(corners[:, 0])
+        center_y = np.mean(corners[:, 1])
+        center_z = np.mean(corners[:, 2])
+
+        extent_x = (np.max(corners[:, 0]) - np.min(corners[:, 0])) / 2
+        extent_y = (np.max(corners[:, 1]) - np.min(corners[:, 1])) / 2
+        extent_z = (np.max(corners[:, 2]) - np.min(corners[:, 2])) / 2
+
+        self.location = carla.Location(x=center_x, y=center_y, z=center_z)
+        self.extent = carla.Vector3D(x=extent_x, y=extent_y, z=extent_z)
+
+
+class ObstacleVRU(object):
+    """
+    A class for obstacle pedestrian. The attributes are designed to match
+    with carla.Walker class.
+
+    Parameters
+    ----------
+    corners : nd.nparray
+        Eight corners of the bounding box. shape:(8, 3).
+
+    o3d_bbx : pen3d.AlignedBoundingBox
+        The bounding box object in Open3d. This is mainly used for
+        visualization
+
+    vehicle : carla.Vehicle
+        The carla.Vehicle object.
+
+    lidar : carla.sensor.lidar
+        The lidar sensor.
+
+    sumo2carla_ids : dict
+        Sumo to carla mapping dictionary, this is used only when co-simulation
+        is activated. We need this since the speed info of  vehicles that
+        are controlled by sumo can not be read from carla server. We will
+        need this dict to read vehicle speed from sumo api--traci.
+
+    Attributes
+    ----------
+    bounding_box : BoundingBox
+        Bounding box of the osbject vehicle.
+
+    location : carla.location
+        Location of the object.
+
+    carla_id : int
+        The obstacle pedestrian's id. It should be the same with the
+        corresponding carla.walker's id. If no carla walker is
+        matched with the obstacle pedestrian, it should be -1.
+    """
+
+    def __init__(self, corners, o3d_bbx,
+                 VRU=None, lidar=None, sumo2carla_ids=None, confidence=0.0, itsType = 'pedestrian'):
+
+        self.o3d_obb = None
+        if not VRU:
+            self.bounding_box = BoundingBox(corners)
+            self.location = self.bounding_box.location
+            # todo: next version will add rotation estimation
+            self.transform = None
+            self.o3d_bbx = o3d_bbx
+            self.carla_id = -1
+            self.velocity = carla.Vector3D(0.0, 0.0, 0.0)
+            self.yaw = 0.0
+            self.itsType = 'pedestrian'
+            self.confidence = confidence
+        else:
+            if sumo2carla_ids is None:
+                sumo2carla_ids = dict()
+            self.set_VRU(VRU, lidar, sumo2carla_ids)
+            self.confidence = 100.0  # They are ground truth perceptions
+
+    def get_transform(self):
+        """
+        Return the transform of the object vehicle.
+        """
+        return self.transform
+
+    def get_location(self):
+        """
+        Return the location of the object vehicle.
+        """
+        return self.location
+
+    def get_velocity(self):
+        """
+        Return the velocity of the object vehicle.
+        """
+        return self.velocity
+
+    def set_carla_id(self, id):
+        """
+        Set carla id according to the carla.vehicle.
+
+        Parameters
+        ----------
+        id : int
+            The id from the carla.vehicle.
+        """
+        self.carla_id = id
+
+    def set_velocity(self, velocity):
+        """
+        Set the velocity of the vehicle.
+
+        Parameters
+        ----------
+        velocity : carla.Vector3D
+            The target velocity in 3d vector format.
+
+        """
+        self.velocity = velocity
+
+    def set_VRU(self, VRU, lidar, sumo2carla_ids):
+        """
+        Assign the attributes from carla.Walker to ObstaclePedestrian.
+
+        Parameters
+        ----------
+        VRU : carla.Walker
+            The carla.Walker object.
+
+        sumo2carla_ids : dict
+            Sumo to carla mapping dictionary, this is used only when
+            co-simulation is activated. We need this since the speed info of
+            vehicles that are controlled by sumo can not be read from carla
+            server. We will need this dict to read vehicle speed
+            from sumo api--traci.
+        """
+        self.location = VRU.get_location()
+        self.transform = VRU.get_transform()
+        self.bounding_box = VRU.bounding_box
+        self.carla_id = VRU.id
+        self.type_id = VRU.type_id
+        self.set_velocity(VRU.get_velocity())
+
+        # the vehicle controlled by sumo has speed 0 in carla,
+        # thus we need to retrieve the correct number from sumo
+        if len(sumo2carla_ids) > 0:
+            sumo_speed = get_speed_sumo(sumo2carla_ids, self.carla_id)
+            if sumo_speed > 0:
+                # todo: consider the yaw angle in the future
+                speed_vector = carla.Vector3D(sumo_speed, 0, 0)
+                self.set_velocity(speed_vector)
+
+        yaw = np.deg2rad(self.transform.rotation.yaw)
+        c, s = np.cos(yaw), np.sin(yaw)
+        R = np.array([[c, -s], [s, c]])
+        local_corners = np.array([
+            [-self.bounding_box.extent.x, -self.bounding_box.extent.y],
+            [self.bounding_box.extent.x, -self.bounding_box.extent.y],
+            [self.bounding_box.extent.x, self.bounding_box.extent.y],
+            [-self.bounding_box.extent.x, self.bounding_box.extent.y]
+        ])
+        world_corners = np.dot(R, local_corners.T).T + np.array([self.location.x, self.location.y])
+
+
+        # find the min and max boundary
+        # min_boundary = np.array([self.location.x - self.bounding_box.extent.x,
+        #                          self.location.y - self.bounding_box.extent.y,
+        #                          self.location.z + self.bounding_box.location.z
+        #                          - self.bounding_box.extent.z,
+        #                          1])
+        # max_boundary = np.array([self.location.x + self.bounding_box.extent.x,
+        #                          self.location.y + self.bounding_box.extent.y,
+        #                          self.location.z + self.bounding_box.location.z
+        #                          + self.bounding_box.extent.z,
+        #                          1])
+        min_boundary = np.array([np.min(world_corners, axis=0)[0],
+                                 np.min(world_corners, axis=0)[1],
+                                 self.location.z + self.bounding_box.location.z
+                                 - self.bounding_box.extent.z,
+                                 1])
+        max_boundary = np.array([np.max(world_corners, axis=0)[0],
+                                 np.max(world_corners, axis=0)[1],
+                                 self.location.z + self.bounding_box.location.z
+                                 + self.bounding_box.extent.z,
+                                 1])
+        min_boundary = min_boundary.reshape((4, 1))
+        max_boundary = max_boundary.reshape((4, 1))
+        stack_boundary = np.hstack((min_boundary, max_boundary))
+
+        if lidar is None:
+            return
+        # the boundary coord at the lidar sensor space
+        stack_boundary_sensor_cords = st.world_to_sensor(stack_boundary,
+                                                         lidar.get_transform())
+        # convert unreal space to o3d space
+        stack_boundary_sensor_cords[:1, :] = - \
+            stack_boundary_sensor_cords[:1, :]
+        # (4,2) -> (3, 2)
+        stack_boundary_sensor_cords = stack_boundary_sensor_cords[:-1, :]
+
+        min_boundary_sensor = np.min(stack_boundary_sensor_cords, axis=1)
+        max_boundary_sensor = np.max(stack_boundary_sensor_cords, axis=1)
+
+        aabb = \
+            o3d.geometry.AxisAlignedBoundingBox(min_bound=min_boundary_sensor,
+                                                max_bound=max_boundary_sensor)
+        aabb.color = (1, 0, 0)
+        self.o3d_bbx = aabb
+
diff --git a/opencda/core/sensing/perception/obstacle_vehicle.py b/opencda/core/sensing/perception/obstacle_vehicle.py
index 29ed51e6a..63caea156 100644
--- a/opencda/core/sensing/perception/obstacle_vehicle.py
+++ b/opencda/core/sensing/perception/obstacle_vehicle.py
@@ -24,8 +24,18 @@ def is_vehicle_cococlass(label):
 
     Returns:
         -is_vehicle(bool): Whether this label belongs to the vehicle class
+
+    0 - pedestrian
+    1 - bicycle
+    2 - car
+    3 - motorcycle
+    4 - airplane
+    5 - bus
+    6 - train
+    7 - truck
     """
-    vehicle_class_array = np.array([1, 2, 3, 5, 7], dtype=np.int)
+
+    vehicle_class_array = np.array([2, 5, 7], dtype=np.int)
     return True if 0 in (label - vehicle_class_array) else False
 
 class BoundingBox(object):
@@ -112,6 +122,7 @@ def __init__(self, corners, o3d_bbx,
             self.velocity = carla.Vector3D(0.0, 0.0, 0.0)
             self.yaw = 0.0
             self.confidence = confidence
+            self.itsType = 'vehicle'
         else:
             if sumo2carla_ids is None:
                 sumo2carla_ids = dict()
diff --git a/opencda/core/sensing/perception/perception_manager.py b/opencda/core/sensing/perception/perception_manager.py
index a2f3b2d1b..cf810a5fa 100644
--- a/opencda/core/sensing/perception/perception_manager.py
+++ b/opencda/core/sensing/perception/perception_manager.py
@@ -14,18 +14,27 @@
 import cv2
 import numpy as np
 import open3d as o3d
+import os
+import csv
 import random
+import threading
+import pandas as pd
 
 import opencda.core.sensing.perception.sensor_transformation as st
 from opencda.core.common.misc import \
     cal_distance_angle, get_speed, get_speed_sumo
 from opencda.core.sensing.perception.obstacle_vehicle import \
     ObstacleVehicle
+from opencda.core.sensing.perception.obstacle_pedestrian import \
+    ObstacleVRU
 from opencda.core.sensing.perception.static_obstacle import TrafficLight
 from opencda.core.sensing.perception.o3d_lidar_libs import \
     o3d_visualizer_init, o3d_pointcloud_encode, o3d_visualizer_show, \
-    o3d_camera_lidar_fusion
+    o3d_camera_lidar_fusion , o3d_camera_lidar_fusion2, o3d_camera_lidar_fusion3
 from sklearn.cluster import DBSCAN
+from scipy.optimize import linear_sum_assignment
+from scipy.spatial.distance import euclidean
+# from opencda.customize.v2x.LDMutils import compute_IoU
 
 class CameraSensor:
     """
@@ -201,6 +210,9 @@ def __init__(self, vehicle, world, config_yaml, global_position):
         # open3d point cloud object
         self.o3d_pointcloud = o3d.geometry.PointCloud()
 
+        # Create a directory to store the output files
+        # self.output_path = "lidar_output"
+        # os.makedirs(self.output_path, exist_ok=True)
         weak_self = weakref.ref(self)
         self.sensor.listen(
             lambda event: LidarSensor._on_data_event(
@@ -218,6 +230,16 @@ def _on_data_event(weak_self, event):
         # (x, y, z, intensity)
         data = np.reshape(data, (int(data.shape[0] / 4), 4))
 
+        # 2. Update the Open3D point cloud object
+        # We only need the (x, y, z) coordinates for the geometry
+        # points = data[:, :3]
+        # self.o3d_pointcloud.points = o3d.utility.Vector3dVector(points)
+        #
+        # # 3. Save the point cloud to a .pcd file
+        # # Use the frame number to create a unique filename for each frame
+        # filename = os.path.join(self.output_path, f"{event.frame:06d}.pcd")
+        # o3d.io.write_point_cloud(filename, self.o3d_pointcloud)
+
         self.data = data
         self.frame = event.frame
         self.timestamp = event.timestamp
@@ -535,6 +557,33 @@ def __init__(self, vehicle, config_yaml, cav_world,
         self.traffic_thresh = config_yaml['traffic_light_thresh'] \
             if 'traffic_light_thresh' in config_yaml else 50
 
+        # --- CSV Configuration ---
+        self.EXCLUDED_PED_COUNT_CSV_FILE = "excluded_pedestrian_counts.csv"
+        self.EXCLUDED_PED_COUNT_HEADERS = [
+            "timestamp",
+            "perceiver_id",
+            "excluded_pedestrian_count"
+        ]
+        self.confidence_csv_file = "Confidence_level_all_PO.csv"
+        self.confidence_csv_header = [
+            "timestamp",
+            "confidence",
+            "ID"
+        ]
+        # self.detection_csv_file = "Detection_parameters.csv"
+        # self.detection_csv_header = [
+        #     "true_positives",
+        #     "false_negatives",
+        #     "false_positives"
+        # ]
+
+        # --- Threading Lock for CSV writing ---
+        # If you have other CSV writing operations, ensure locks are used appropriately
+        # to prevent deadlocks or if a single lock can manage all CSV access.
+        # For this specific file, we use this lock:
+        self.excluded_ped_count_csv_lock = threading.Lock()
+        self.confidence_csv_lock = threading.Lock()
+
     def dist(self, a):
         """
         A fast method to retrieve the obstacle distance the ego
@@ -555,6 +604,7 @@ def dist(self, a):
     def detect(self, ego_pos):
         """
         Detect surrounding objects. Currently only vehicle detection supported.
+        Implementation for pedestrians detection ongoing.
 
         Parameters
         ----------
@@ -570,7 +620,8 @@ def detect(self, ego_pos):
         self.ego_pos = ego_pos
 
         objects = {'vehicles': [],
-                   'traffic_lights': []}
+                   'traffic_lights': [],
+                   'VRU': []}
 
         if not self.activate:
             objects = self.deactivate_mode(objects)
@@ -648,6 +699,8 @@ def radar_detect(self, objects):
         vehicle_list = [v for v in vehicle_list if self.dist(v) < 50 and
                         v.id != self.id]
 
+        ped_list = world.get_actors()
+        ped_list = [p for p in ped_list if self.dist(p) < 50 and p.id != self.id]
 
         # Step 5: Create and Draw Bounding Boxes
         for label in unique_labels:
@@ -684,10 +737,16 @@ def radar_detect(self, objects):
             bbox_corners[:, 1] += self.radar.sensor.get_transform().location.y
             bbox_corners[:, 2] += self.radar.sensor.get_transform().location.z
 
+
+
             obstacle_vehicle = ObstacleVehicle(bbox_corners, o3d_bbx, confidence=0.71)
             obstacle_vehicle.set_velocity(
                  carla.Vector3D(self.vehicle.get_velocity().x + cluster_points.mean(axis=0)[3], 0, 0))
 
+            # obstacle_VRU = ObstacleVRU(bbox_corners, o3d_bbx, confidence=0.71)
+            # obstacle_VRU.set_velocity(
+            #     carla.Vector3D(self.vehicle.get_velocity().x + cluster_points.mean(axis=0)[3], 0, 0))
+
             for v in vehicle_list:
                 loc = v.get_location()
                 obstacle_loc = obstacle_vehicle.get_location()
@@ -695,8 +754,12 @@ def radar_detect(self, objects):
                     abs(loc.y - obstacle_loc.y) <= 3.0:
                     obstacle_vehicle.carla_id = v.id
 
+            # for p in in ped_list:
+            #     p_loc = p.get_location()
+
             objects['vehicles'].append(obstacle_vehicle)
 
+
         return objects
 
 
@@ -751,7 +814,7 @@ def activate_mode(self, objects):
             rgb_draw_images.append(rgb_image)
 
             # camera lidar fusion
-            objects = o3d_camera_lidar_fusion(
+            objects = o3d_camera_lidar_fusion3(
                 objects,
                 yolo_detection.xyxy[i],
                 data_copy,
@@ -759,11 +822,20 @@ def activate_mode(self, objects):
                 self.lidar.sensor,
                 self.ego_pos)
 
+            # objects = o3d_camera_lidar_fusion2(
+            #     objects,
+            #     yolo_detection.xyxy[i],
+            #     data_copy,
+            #     projected_lidar,
+            #     self.lidar.sensor,
+            #     self.ego_pos)
+
             # calculate the speed. current we retrieve from the server
             # directly.
+            # this function is used also to set the id
             self.speed_retrieve(objects)
 
-        self.radar_detect(objects)
+        #self.radar_detect(objects)
 
 
         fusion_time = time.time_ns()
@@ -774,30 +846,45 @@ def activate_mode(self, objects):
                     break
                 rgb_image = self.ml_manager.draw_2d_box(
                     yolo_detection, rgb_image, i)
-                rgb_image = cv2.resize(rgb_image, (0, 0), fx=0.4, fy=0.4)
+                rgb_image = cv2.resize(rgb_image, (0, 0), fx=0.8, fy=0.8)
                 cv2.imshow(
                     '%s-th camera of actor %d, perception activated' %
                     (str(i), self.id), rgb_image)
             cv2.waitKey(1)
 
-        objects['vehicles'] = [item for item in objects['vehicles'] if item.confidence >= 0.7]
-        duplicate_indices = set()
-        # Iterate through the objects to check for duplicates
-        for i in range(len(objects['vehicles'])):
-            for j in range(i + 1, len(objects['vehicles'])):
-                dist = math.sqrt(pow(objects['vehicles'][i].location.x - objects['vehicles'][j].location.x, 2)
-                                 + pow(objects['vehicles'][i].location.y - objects['vehicles'][j].location.y, 2))
-                if dist < 3 or objects['vehicles'][i].carla_id == objects['vehicles'][j].carla_id:
-                    # if (objects['vehicles'][i].bounding_box.extent.x*objects['vehicles'][i].bounding_box.extent.y) > \
-                    #         (objects['vehicles'][j].bounding_box.extent.x * objects['vehicles'][j].bounding_box.extent.y):
-                    if objects['vehicles'][i].confidence > objects['vehicles'][j].confidence:
-                        duplicate_indices.add(j)
-                    else:
-                        duplicate_indices.add(i)
-
-        # Remove duplicate objects from the list
-        for index in sorted(duplicate_indices, reverse=True):
-            objects['vehicles'].pop(index)
+        for key in objects:
+            if key == 'static':
+                continue
+            if key == "vehicle":
+                objects[key] = [item for item in objects[key] if item.confidence >= 0.7]
+            if key == "VRU":
+                current_list = objects[key]
+                vrus_to_be_excluded = [
+                    item for item in current_list if item.confidence < 0.4 and item.carla_id != -1]
+                excluded_count = len(vrus_to_be_excluded)
+                self.log_excluded_pedestrian_count(self.id, excluded_count)
+                for item in current_list:
+                    self.log_confidence_level(item.confidence, item.carla_id)
+
+                objects[key] = [item for item in objects[key] if item.confidence >= 0.4]
+
+            duplicate_indices = set()
+            # Iterate through the objects to check for duplicates
+            for i in range(len(objects[key])):
+                for j in range(i + 1, len(objects[key])):
+                    dist = math.sqrt(pow(objects[key][i].location.x - objects[key][j].location.x, 2)
+                                     + pow(objects[key][i].location.y - objects[key][j].location.y, 2))
+                    if (dist < 2 and key == 'vehicles') or objects[key][i].carla_id == objects[key][j].carla_id:
+                        # if (objects['vehicles'][i].bounding_box.extent.x*objects['vehicles'][i].bounding_box.extent.y) > \
+                        #         (objects['vehicles'][j].bounding_box.extent.x * objects['vehicles'][j].bounding_box.extent.y):
+                        if objects[key][i].confidence > objects[key][j].confidence:
+                            duplicate_indices.add(j)
+                        else:
+                            duplicate_indices.add(i)
+
+            # Remove duplicate objects from the list
+            for index in sorted(duplicate_indices, reverse=True):
+                objects[key].pop(index)
 
         if self.lidar_visualize:
             while self.lidar.data is None:
@@ -918,14 +1005,18 @@ def getGTobjects(self):
         world = self.carla_world
 
         vehicle_list = world.get_actors().filter("*vehicle*")
+        VRU_list = world.get_actors().filter("*pedestrian*")
         # todo: hard coded
         thresh = 75
 
         if self.ego_pos:
             vehicle_list = [v for v in vehicle_list if self.dist(v) < thresh and
                             v.id != self.id]
+            VRU_list = [p for p in VRU_list if self.dist(p) < thresh and
+                            p.id != self.id]
         else:
             vehicle_list = [v for v in vehicle_list if v.id != self.id]
+            VRU_list = [p for p in VRU_list if p.id != self.id]
 
         # convert carla.Vehicle to opencda.ObstacleVehicle if lidar
         # visualization is required.
@@ -937,6 +1028,13 @@ def getGTobjects(self):
                     v,
                     self.lidar.sensor,
                     None) for v in vehicle_list]
+            VRU_list = [
+                ObstacleVRU(
+                    None,
+                    None,
+                    p,
+                    self.lidar.sensor,
+                    None) for p in VRU_list]
         else:
             vehicle_list = [
                 ObstacleVehicle(
@@ -945,8 +1043,15 @@ def getGTobjects(self):
                     v,
                     None,
                     self.cav_world.sumo2carla_ids) for v in vehicle_list]
+            VRU_list = [
+                ObstacleVRU(
+                    None,
+                    None,
+                    p,
+                    None,
+                    self.cav_world.sumo2carla_ids) for p in VRU_list]
 
-        objects = {'vehicles': vehicle_list}
+        objects = {'vehicles': vehicle_list, 'VRU': VRU_list}
         # add traffic light
         objects = self.retrieve_traffic_lights(objects)
 
@@ -1038,6 +1143,8 @@ def speed_retrieve(self, objects):
         """
         if 'vehicles' not in objects:
             return
+        if 'VRU' not in objects:
+            return
 
         world = self.carla_world
         vehicle_list = world.get_actors().filter("*vehicle*")
@@ -1046,6 +1153,7 @@ def speed_retrieve(self, objects):
 
         # todo: consider the minimum distance to be safer in next version
         for v in vehicle_list:
+
             loc = v.get_location()
             for obstacle_vehicle in objects['vehicles']:
                 obstacle_speed = get_speed(obstacle_vehicle)
@@ -1058,7 +1166,7 @@ def speed_retrieve(self, objects):
                         abs(loc.y - obstacle_loc.y) <= 3.0:
                     obstacle_vehicle.set_velocity(v.get_velocity())
 
-                    # the case where the obstacle vehicle is controled by
+                    # the case where the obstacle vehicle is controlled by
                     # sumo
                     if self.cav_world.sumo2carla_ids:
                         sumo_speed = \
@@ -1071,6 +1179,154 @@ def speed_retrieve(self, objects):
 
                     obstacle_vehicle.set_carla_id(v.id)
 
+        allactor = world.get_actors()
+        VRU_list = []
+        blueprint_library = world.get_blueprint_library()
+        for actor in allactor:
+            try:
+                bp = blueprint_library.find(actor.type_id)
+            except:
+                continue
+            # actor = world.get_actor(actor.id)
+            # actor.attributes.object_type
+            # actor type id has no motorcycle or bicycle
+            # todo: check for blueprint attributes
+            if bp.has_attribute("number_of_wheels"):
+                if actor.attributes['number_of_wheels'] == '2':
+                    VRU_list.append(actor)
+            elif 'pedestrian' in actor.type_id:
+                VRU_list.append(actor)
+        VRU_list = [p for p in VRU_list if self.dist(p) < 40 and
+                        p.id != self.id]
+
+        # -----Hungarian algorithm-----
+        if objects['VRU']:
+            MAX_DISTANCE_THRESHOLD = 1
+            MAX_IOU_THRESHOLD = 0.3
+
+            num_gt = len(VRU_list)
+            num_perceived = len(objects['VRU'])
+            # Create an N_gt x N_perceived cost matrix
+            # Initialize with a very high cost for impossible matches
+            cost_matrix = np.full((num_gt, num_perceived), 1000.0)
+            # cost_matrix_IoU = np.full((num_gt, num_perceived), 0.0)
+            matched_ids_this_cycle = set()
+            for i, p in enumerate(VRU_list):
+                gt_loc = p.get_location()
+
+
+                for j, obstacle_ped in enumerate(objects['VRU']):
+                    obstacle_loc = obstacle_ped.get_location()
+                    compatible = False
+                    if obstacle_ped.itsType == 'pedestrian' and 'pedestrian' in p.type_id:
+                        compatible = True
+                    elif obstacle_ped.itsType != 'pedestrian' and 'pedestrian' not in p.type_id:
+                        if p.attributes["number_of_wheels"] == '2':
+                            compatible = True
+
+                    if not compatible:
+                        continue
+
+                    # squared euclidean distance
+                    dx = gt_loc.x - obstacle_loc.x
+                    dy = gt_loc.y - obstacle_loc.y
+                    distance_sq = dx * dx + dy * dy
+                    distance = np.sqrt(distance_sq)
+                    current_cost = distance
+
+                    # check proximity
+                    if distance <= MAX_DISTANCE_THRESHOLD * 3:
+                        cost_matrix[i, j] = current_cost
+
+                    # Todo: consider also IoU for the cost matrix (and mAP calculation)
+                    #IoU cost matrix
+                    # bbx = p.bounding_box
+                    # width = bbx.extent.x*2
+                    # length = bbx.extent.y*2
+                    # heigth = bbx.extent.z*2
+                    # yaw = p.get_transform().rotation.yaw
+                    # lidar_transform = self.lidar.sensor.get_transform()
+                    # gt_o3d_aabb, gt_obb = self.get_o3d_bounding_boxes(gt_loc.x, gt_loc.y,0, width, length, heigth,
+                    #                                                       yaw, lidar_transform)
+                    # detected_o3d_aabb, detected_obb = self.get_o3d_bounding_boxes(obstacle_loc.x, obstacle_loc.y, 0,
+                    #                                                                   obstacle_ped.bounding_box.extent.x,
+                    #                                                                   obstacle_ped.bounding_box.extent.y,
+                    #                                                                   obstacle_ped.bounding_box.extent.z,
+                    #                                                                   obstacle_ped.yaw,lidar_transform)
+                    # IoU = self.compute_obb_iou(gt_obb, detected_obb)
+                    # cost_matrix_IoU[i, j] = IoU
+
+
+            # Perform the optimal assignment using the Hungarian algorithm
+            row_ind, col_ind = linear_sum_assignment(cost_matrix)
+            print(f"[{self.vehicle.get_world().get_snapshot().elapsed_seconds}] ")
+            # print("Cost matrix:\n", cost_matrix[:, :])
+            # print("Cost matrix IoU:\n", cost_matrix_IoU[:, :])
+            true_positives = 0
+            false_positives = 0
+            false_negatives = 0
+            matched_gt_ids_this_cycle = set()
+            matched_perceived_ids_this_cycle = set()
+
+            # row_ids contains indices of gt objects
+            # col_ind contains indices of perceived matched objects
+            for gt_idx, perceived_idx in zip(row_ind, col_ind):
+                cost = cost_matrix[gt_idx, perceived_idx]
+
+                is_valid_match = False
+                if cost != 1000.0 and cost <= MAX_DISTANCE_THRESHOLD:  # Check distance threshold
+                    perceived_obj = objects['VRU'][perceived_idx]
+                    gt_obj = VRU_list[gt_idx]
+                    is_valid_match = True
+                    # print(f"ID: {gt_obj.id} - cost = {cost} - confidence = {perceived_obj.confidence}")
+
+                if is_valid_match:
+                    true_positives += 1
+                    gt_obj = VRU_list[gt_idx]
+                    best_matching_obj = objects['VRU'][perceived_idx]
+
+                    # Update the perceived object with ground truth information
+                    actor = allactor.find(gt_obj.id)
+                    if actor:
+                        aspeed = actor.get_velocity()
+                        best_matching_obj.velocity.x = aspeed.x
+                        best_matching_obj.velocity.y = aspeed.y
+
+                        atransform = actor.get_transform()
+                        yaw = atransform.rotation.yaw
+                        # Log heading difference if needed
+                        self.log_heading_to_excel(time, gt_obj.id, yaw, best_matching_obj.yaw)
+
+                        best_matching_obj.yaw = yaw
+
+                    best_matching_obj.set_carla_id(gt_obj.id)  # Assign the Carla ID from GT for tracking
+
+                    matched_gt_ids_this_cycle.add(gt_obj.id)
+                    matched_perceived_ids_this_cycle.add(best_matching_obj.carla_id)
+
+            # Calculate False Negatives (GT objects not matched)
+            # extremely dependent on GT list
+            # todo: address false negatives - which GT I SHOULD be detecting? gt_list is not enough
+            for gt_obj in VRU_list:
+                if gt_obj.id not in matched_gt_ids_this_cycle:
+                    false_negatives += 1
+
+            # Calculate False Positives (Perceived objects not matched)
+            for perceived_obj in objects['VRU']:
+                if perceived_obj.carla_id not in matched_perceived_ids_this_cycle:
+                    if perceived_obj.carla_id == -1:
+                        false_positives += 1
+                    else:  # If it got a Carla ID but wasn't in our current matched list, something went wrong
+                        # This assumes all matched perceived_obj will have their carla_id set
+                        pass
+
+            # self.log_detection_par(true_positives, false_negatives, false_positives)
+            # print(f"True Positives: {true_positives}")
+            # print(f"False Negatives: {false_negatives}")
+            # print(f"False Positives: {false_positives}")
+
+
+
     def retrieve_traffic_lights(self, objects):
         """
         Retrieve the traffic lights nearby from the server  directly.
@@ -1153,3 +1409,228 @@ def destroy(self):
 
         if self.data_dump:
             self.semantic_lidar.sensor.destroy()
+
+    # def get_o3d_bounding_boxes(self, x, y, z, extent_x, extent_y, extent_z, heading_deg, lidar_transform):
+    #     """
+    #     Creates an Open3D Oriented Bounding Box (OBB) and its corresponding
+    #     Axis-Aligned Bounding Box (AABB) in the sensor's coordinate frame
+    #     by directly transforming the OBB object.
+    #
+    #     Args:
+    #         x, y, z (float): Center of the box in world coordinates.
+    #         extent_x, extent_y, extent_z (float): The full size (length, width, height) of the box.
+    #         heading_deg (float): The yaw/heading of the box in degrees.
+    #         lidar_transform (carla.Transform): The transform of the sensor.
+    #
+    #     Returns:
+    #         tuple: (o3d.geometry.AxisAlignedBoundingBox, o3d.geometry.OrientedBoundingBox)
+    #     """
+    #     # Use the input parameters to define the OBB directly.
+    #     center_world = [x, y, z]
+    #     extent_world = [extent_x, extent_y, extent_z]
+    #
+    #     # Create the rotation matrix from the yaw angle
+    #     yaw_rad = np.deg2rad(heading_deg)
+    #     R = o3d.geometry.get_rotation_matrix_from_xyz((0, 0, yaw_rad))
+    #
+    #     # Create the Open3D OBB object in world coordinates
+    #     obb_world = o3d.geometry.OrientedBoundingBox(center_world, R, extent_world)
+    #
+    #     # 1. Get the 8 corners of the bounding box
+    #     corner_points_world = np.asarray(obb_world.get_box_points())  # shape (8, 3)
+    #
+    #     # 2. Transpose the array to have shape (3, 8)
+    #     corner_points_world_transposed = corner_points_world.transpose()
+    #
+    #     # 3. Add a row of ones to create homogeneous coordinates, shape (4, 8)
+    #     homogeneous_points = np.vstack((corner_points_world_transposed, np.ones(8)))
+    #
+    #     # Now you can use this as input for your world_to_sensor function
+    #     sensor_cords = st.world_to_sensor(homogeneous_points, lidar_transform)
+    #
+    #     sensor_cords[:1, :] = - sensor_cords[:1, :]
+    #     sensor_cords = sensor_cords[:-1, :]
+    #     sensor_cords = sensor_cords.transpose()
+    #
+    #     obb_points = o3d.utility.Vector3dVector(sensor_cords)
+    #
+    #     # 4. Now, create the AABB and visualization objects from the final,
+    #     # correctly transformed OBB, which is the most robust method.
+    #     aabb_sensor = o3d.geometry.AxisAlignedBoundingBox.create_from_points(obb_points)
+    #     aabb_sensor.color = (0, 1, 0)  # Green for AABB
+    #
+    #     obb_sensor = o3d.geometry.OrientedBoundingBox.create_from_points(obb_points)
+    #     obb2 = o3d.geometry.OrientedBoundingBox.create_from_axis_aligned_bounding_box(aabb_sensor)
+    #
+    #
+    #     # This is an alternative to the line_set creation, but it is more efficient
+    #     # line_set_sensor = o3d.geometry.LineSet.create_from_oriented_bounding_box(obb_sensor)
+    #     # line_set_sensor.paint_uniform_color((1, 0, 0)) # Red for OBB outline
+    #
+    #     # Returning the OBB is critical for your IoU calculation
+    #     return aabb_sensor, obb_sensor
+
+    # def compute_obb_iou(self, obb1, obb2):
+    #     """
+    #     Computes the Intersection over Union (IoU) for two Open3D OrientedBoundingBoxes.
+    #
+    #     This method works by converting the OBBs to meshes, calculating the
+    #     volume of their intersection, and then applying the IoU formula.
+    #
+    #     Note: Requires Open3D version >= 0.16.0 for mesh boolean operations.
+    #     """
+    #     try:
+    #         mesh1 = o3d.geometry.TriangleMesh.create_from_oriented_bounding_box(obb1)
+    #         mesh2 = o3d.geometry.TriangleMesh.create_from_oriented_bounding_box(obb2)
+    #     except AttributeError:
+    #         # Fallback for older versions if needed, though this is less likely
+    #         print("Warning: create_from_oriented_bounding_box not found. "
+    #               "Check your Open3D version.")
+    #         return 0.0
+    #
+    #     # Get the volumes of the original boxes
+    #     volume1 = obb1.volume()
+    #     volume2 = obb2.volume()
+    #
+    #     # Calculate the intersection mesh
+    #     # The intersection operation might fail for some geometries, so we use a try-except block
+    #     try:
+    #         intersection_mesh = mesh1.boolean_intersection(mesh2)
+    #         intersection_volume = intersection_mesh.get_volume()
+    #     except Exception as e:
+    #         # If the boolean operation fails, it often means there's no intersection
+    #         # or the intersection is a lower-dimensional shape (line/point).
+    #         # print(f"Mesh intersection failed: {e}")
+    #         intersection_volume = 0.0
+    #
+    #     # Calculate the union volume
+    #     union_volume = volume1 + volume2 - intersection_volume
+    #
+    #     # Compute the IoU
+    #     if union_volume == 0:
+    #         return 0.0  # Avoid division by zero
+    #     else:
+    #         return intersection_volume / union_volume
+
+    def log_excluded_pedestrian_count(self, perceiver_id_val, count_of_excluded_peds):
+        """
+        Logs the timestamp, perceiver ID, and the count of excluded pedestrians
+        to a CSV file in a thread-safe manner.
+
+        Args:
+            perceiver_id_val: The ID of the perceiving entity (e.g., self.id).
+            count_of_excluded_peds: The number of pedestrians excluded in this step.
+        """
+        # timestamp = datetime.datetime.now().isoformat()
+        timestamp = time.time_ns()
+        data_row = [timestamp, perceiver_id_val, count_of_excluded_peds]
+
+        # Acquire the lock before performing file operations
+        with self.excluded_ped_count_csv_lock:
+            try:
+                file_exists = os.path.isfile(self.EXCLUDED_PED_COUNT_CSV_FILE)
+                # Check if file is empty (it might exist but have no content/headers)
+                is_empty_file = file_exists and os.path.getsize(self.EXCLUDED_PED_COUNT_CSV_FILE) == 0
+
+                with open(self.EXCLUDED_PED_COUNT_CSV_FILE, mode='a', newline='') as csvfile:
+                    writer = csv.writer(csvfile)
+                    if not file_exists or is_empty_file:
+                        # Write header only if it's a new or empty file
+                        writer.writerow(self.EXCLUDED_PED_COUNT_HEADERS)
+                    writer.writerow(data_row)
+            except IOError as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: IOError writing to {self.EXCLUDED_PED_COUNT_CSV_FILE}. Reason: {e}")
+            except Exception as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: Unexpected error during CSV writing to {self.EXCLUDED_PED_COUNT_CSV_FILE}. Reason: {e}")
+
+    def log_confidence_level(self, confidence, obj_id):
+        """
+        Logs the timestamp, perceiver ID, and the confidence level
+        to a CSV file in a thread-safe manner.
+
+        Args:
+            confidence: confidence level from YOLOv5 detection.
+            obj_id: id of the perceived object.
+        """
+        # timestamp = datetime.datetime.now().isoformat()
+        timestamp = time.time_ns()
+        data_row = [timestamp, confidence, obj_id]
+
+        # Acquire the lock before performing file operations
+        with self.confidence_csv_lock:
+            try:
+                file_exists = os.path.isfile(self.confidence_csv_file)
+                # Check if file is empty (it might exist but have no content/headers)
+                is_empty_file = file_exists and os.path.getsize(self.confidence_csv_file) == 0
+
+                with open(self.confidence_csv_file, mode='a', newline='') as csvfile:
+                    writer = csv.writer(csvfile)
+                    if not file_exists or is_empty_file:
+                        # Write header only if it's a new or empty file
+                        writer.writerow(self.confidence_csv_header)
+                    writer.writerow(data_row)
+            except IOError as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: IOError writing to {self.confidence_csv_file}. Reason: {e}")
+            except Exception as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: Unexpected error during CSV writing to {self.confidence_csv_file}. Reason: {e}")
+
+    def log_heading_to_excel(self, time, actor_id, ground_truth_heading, perceived_heading):
+
+        header = ['timestamp','ground_truth_heading', 'perceived_heading']
+
+        df = pd.DataFrame([{
+            'timestamp': time.time_ns(),
+            'ground_truth_heading': ground_truth_heading,
+            'perceived_heading': perceived_heading
+        }])
+
+
+        log_directory = "Heading_difference"
+        if not os.path.exists(log_directory):
+            os.makedirs(log_directory)
+
+        file_name = os.path.join(log_directory, f"heading_{actor_id}.csv")
+
+        write_header = not os.path.exists(file_name)
+
+        df.to_csv(file_name, mode='a', header=write_header, index=False)
+        # Check if the file exists
+
+    def log_detection_par(self, true_positives, false_negatives, false_positives):
+        """
+        Logs the detection parameters for mAP calculation
+        to a CSV file in a thread-safe manner.
+
+        Args:
+          true_positives: detected and matched
+          false_negatives: GT objects not matched
+          false_positives: Perceived objects not matched)
+
+        """
+        # timestamp = datetime.datetime.now().isoformat()
+        timestamp = time.time_ns()
+        data_row = [true_positives, false_negatives, false_positives]
+
+        # Acquire the lock before performing file operations
+        with self.confidence_csv_lock:
+            try:
+                file_exists = os.path.isfile(self.detection_csv_file)
+                # Check if file is empty (it might exist but have no content/headers)
+                is_empty_file = file_exists and os.path.getsize(self.detection_csv_file) == 0
+
+                with open(self.detection_csv_file, mode='a', newline='') as csvfile:
+                    writer = csv.writer(csvfile)
+                    if not file_exists or is_empty_file:
+                        # Write header only if it's a new or empty file
+                        writer.writerow(self.detection_csv_header)
+                    writer.writerow(data_row)
+            except IOError as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: IOError writing to {self.detection_csv_file}. Reason: {e}")
+            except Exception as e:
+                print(
+                    f"Thread ID {threading.get_ident()}: Unexpected error during CSV writing to {self.detection_csv_file}. Reason: {e}")
diff --git a/opencda/customize/core/common/vehicle_manager.py b/opencda/customize/core/common/vehicle_manager.py
index f8c76839f..4c10d1e11 100644
--- a/opencda/customize/core/common/vehicle_manager.py
+++ b/opencda/customize/core/common/vehicle_manager.py
@@ -29,6 +29,10 @@
 from opencda.customize.platooning.states import FSM
 from opencda.customize.platooning.states import I_FSM
 import time
+import collections
+import csv
+import os
+from pathlib import Path
 
 
 class ExtendedVehicleManager(VehicleManager):
@@ -160,6 +164,8 @@ def __init__(
         if not self.pldm:
             self.LDM = LDM(self, self.v2xAgent, visualize=self.lidar_visualize)
 
+
+
     def get_time_ms(self):
         return self.map_manager.world.get_snapshot().elapsed_seconds * 1000
 
@@ -180,6 +186,7 @@ def update_info_LDM(self):
         objects = self.perception_manager.detect(ego_pos)
         self.sensorObjects = objects['vehicles']
         detected_n = len(objects['vehicles'])
+
         file_detection = (time.time_ns() / 1000) - file_timestamp
         # ------------------LDM patch------------------------
         self.time = self.map_manager.world.get_snapshot().elapsed_seconds
@@ -246,13 +253,13 @@ def get_context(self):
 
     def translateDetections(self, object_list):
         ego_pos, ego_spd, objects = self.getInfo()
-        returnedObjects = []
+        returnedObjectsV = []
         for obj in object_list['vehicles']:
             if obj.carla_id == -1:
                 continue  # If object can't be matched with a CARLA vehicle, we ignore it
-            dist = math.sqrt(
-                math.pow((obj.location.x - ego_pos.location.x), 2) + math.pow((obj.location.y - ego_pos.location.y),
-                                                                          2))
+            # dist = math.sqrt(
+            #     math.pow((obj.location.x - ego_pos.location.x), 2) + math.pow((obj.location.y - ego_pos.location.y),
+            #                                                               2))
             # yaw = self.perception_manager.carla_world.get_actors().find(obj.carla_id).get_transform().rotation.yaw
             # print("Carla yaw: ", yaw, " Opencda yaw: ", obj.yaw)
             LDMobj = Perception(obj.location.x,
@@ -263,13 +270,87 @@ def translateDetections(self, object_list):
                                 obj.confidence)
             LDMobj.xSpeed = obj.velocity.x
             LDMobj.ySpeed = obj.velocity.y
-            # LDMobj.yaw = obj.yaw
-            # TODO: this is a workaround, pose estimation in o3d_pointcloud.get_oriented_bounding_box() is not reliable
-            curr_wpt = self.map_manager.world.get_map().get_waypoint(carla.Location(x=obj.location.x, y=obj.location.y, z=0.0))
-            LDMobj.yaw = curr_wpt.transform.rotation.yaw
+            LDMobj.yaw = obj.yaw
+            LDMobj.id = obj.carla_id
+            returnedObjectsV.append(LDMobj)
+
+        returnedObjectsP = []
+        for obj in object_list['VRU']:
+            if obj.carla_id == -1:
+                continue
+            # dist = math.sqrt(
+            #     math.pow((obj.location.x - ego_pos.location.x), 2) + math.pow((obj.location.y - ego_pos.location.y),
+            #                                                               2))
+            # yaw = self.perception_manager.carla_world.get_actors().find(obj.carla_id).get_transform().rotation.yaw
+            # print("Carla yaw: ", yaw, " Opencda yaw: ", obj.yaw)
+            LDMobj = Perception(obj.location.x,
+                                obj.location.y,
+                                obj.bounding_box.extent.y * 2,  # width
+                                obj.bounding_box.extent.x * 2,  # length
+                                self.time,
+                                obj.confidence,
+                                itsType=obj.itsType)
+            LDMobj.xSpeed = obj.velocity.x
+            LDMobj.ySpeed = obj.velocity.y
+            LDMobj.yaw = obj.yaw
+            LDMobj.id = obj.carla_id
+            returnedObjectsP.append(LDMobj)
+            # print(f"Updating LDM - ID {obj.carla_id} ")
+        # ped_list is retrieved from CARLA, while returnedObjects is the info from sensors.
+        # if we sense a pedestrian close to a location where the server is telling us that there is a pedestrian
+        # we assign the ID to the object obstacle pedestrian
+
+
+        return {'vehicles': returnedObjectsV,
+                'VRU': returnedObjectsP}
+    def translateDetectionsPedestrians(self, object_list):
+        ego_pos, ego_spd, objects = self.getInfo()
+        returnedObjects = []
+        for obj in object_list['VRU']:
+            # dist = math.sqrt(
+            #     math.pow((obj.location.x - ego_pos.location.x), 2) + math.pow((obj.location.y - ego_pos.location.y),
+            #                                                               2))
+            # yaw = self.perception_manager.carla_world.get_actors().find(obj.carla_id).get_transform().rotation.yaw
+            # print("Carla yaw: ", yaw, " Opencda yaw: ", obj.yaw)
+            if obj.itsType != 'pedestrian':
+                continue
+            LDMobj = Perception(obj.location.x,
+                                obj.location.y,
+                                obj.bounding_box.extent.y * 2,
+                                obj.bounding_box.extent.x * 2,
+                                self.time,
+                                obj.confidence,
+                                itsType=obj.itsType)
+            LDMobj.xSpeed = 0
+            LDMobj.ySpeed = 0
+            LDMobj.yaw = 0
             LDMobj.id = obj.carla_id
             returnedObjects.append(LDMobj)
-        return {'vehicles': returnedObjects}
+
+        # ped_list is retrieved from CARLA, while returnedObjects is the info from sensors.
+        # if we sense a pedestrian close to a location where the server is telling us that there is a pedestrian
+        # we assign the ID to the object obstacle pedestrian
+
+        ped_list = self.map_manager.world.get_actors()
+        ped_list = [p for p in ped_list if p.get_location().distance(ego_pos.location) < 50]
+
+        for i, walker in enumerate(returnedObjects):
+            for p in ped_list:
+                p_loc = p.get_location()
+                if abs(p_loc.x - walker.xPosition) <= 3.0 and \
+                        abs(p_loc.y - walker.yPosition) <= 3.0:
+                    x = round(walker.xPosition, 2)
+                    y = round(walker.yPosition, 2)
+                    dist = round(math.sqrt(
+                        math.pow((x - ego_pos.location.x), 2) + math.pow((y - ego_pos.location.y),
+                                                                         2)), 2)
+                    print(f'Pedestrian {p.id} detected {dist} meters away by vehicle {self.vehicle.id}'
+                          f' at position (x = {x}, y = {y})')
+                    # assign pedestrian ID to obstacle pedestrian object
+                    walker.id = p.id
+
+
+        return
 
     def getInfo(self):
         """
@@ -494,3 +575,5 @@ def appendObject(self, obj, id):
 
         obj.o3d_bbx = self.LDMobj_to_o3d_bbx(obj)
         self.LDM[id].insertPerception(obj)
+
+
diff --git a/opencda/customize/core/sensing/perception/perception_manager.py b/opencda/customize/core/sensing/perception/perception_manager.py
index 911ffd513..f12753d18 100644
--- a/opencda/customize/core/sensing/perception/perception_manager.py
+++ b/opencda/customize/core/sensing/perception/perception_manager.py
@@ -209,6 +209,7 @@ def dist(self, a):
     def detect(self, ego_pos):
         """
         Detect surrounding objects. Currently only vehicle detection supported.
+        Implementation for pedestrians detection ongoing.
 
         Parameters
         ----------
@@ -224,7 +225,8 @@ def detect(self, ego_pos):
         self.ego_pos = ego_pos
 
         objects = {'vehicles': [],
-                   'traffic_lights': []}
+                   'traffic_lights': [],
+                   'VRU': []}
 
         if not self.activate:
             objects = self.deactivate_mode(objects)
diff --git a/opencda/customize/ml_libs/ml_manager.py b/opencda/customize/ml_libs/ml_manager.py
index 36c03105a..720cfc3d4 100644
--- a/opencda/customize/ml_libs/ml_manager.py
+++ b/opencda/customize/ml_libs/ml_manager.py
@@ -66,6 +66,12 @@ def draw_2d_box(self, result, rgb_image, index):
 
             if is_vehicle_cococlass(label):
                 label_name = 'vehicle'
+            elif is_pedestrian_cococlass(label):
+                label_name = 'pedestrian'
+            elif label == 1:
+                label_name = 'bicycle'
+            elif label == 3:
+                label_name = 'motorcycle'
 
             x1, y1, x2, y2 = int(
                 detection[0]), int(
@@ -90,5 +96,18 @@ def is_vehicle_cococlass(label):
         -is_vehicle: bool
             whether this label belongs to the vehicle class
     """
-    vehicle_class_array = np.array([1, 2, 3, 5, 7], dtype=np.int)
+    vehicle_class_array = np.array([2, 5, 7], dtype=np.int)
     return True if 0 in (label - vehicle_class_array) else False
+
+def is_pedestrian_cococlass(label):
+    """
+    Check whether the label belongs to the vehicle class according
+    to coco dataset.
+    Args:
+        -label(int): yolo detection prediction.
+    Returns:
+        -is_vehicle: bool
+            whether this label belongs to the vehicle class
+    """
+    VRU_class_array = np.array([0], dtype=np.int)
+    return True if 0 in (label - VRU_class_array) else False
diff --git a/opencda/customize/v2x/CAservice.py b/opencda/customize/v2x/CAservice.py
new file mode 100644
index 000000000..3f2d862a7
--- /dev/null
+++ b/opencda/customize/v2x/CAservice.py
@@ -0,0 +1,127 @@
+import carla
+import math
+import numpy as np
+import weakref
+from threading import Thread
+from threading import Event
+from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
+
+from opencda.customize.v2x.aux import Perception
+
+
+class CAservice(object):
+    def __init__(
+            self,
+            cav,
+            V2Xagent):
+
+        self.cav = cav
+        self.V2Xagent = V2Xagent
+        self.prev_heading = -1
+        self.prev_speed = -1
+        self.prev_distance = -1
+        self.cam_sent = 0
+        self.next_cam = 0
+        self.lastCamGen = 0
+        self.max_CAM_T = 100
+
+    def checkCAMconditions(self):
+        now = self.cav.get_time_ms()
+        condition_verified = False
+        dyn_cond_verified = False
+
+        if self.prev_heading == -1 or self.prev_speed == -1 or self.prev_distance == -1:
+            return True
+
+        if now - self.lastCamGen < 100:
+            return False
+
+        head_diff = self.cav.localizer.get_ego_pos().rotation.yaw - self.prev_heading
+        head_diff += -360.0 if head_diff > 180.0 else (360.0 if head_diff < -180.0 else 0.0)
+        if head_diff > 4.0 or head_diff < -4.0:
+            return True
+
+        pos_diff = self.cav.localizer.get_ego_pos().location.distance(self.prev_distance)
+        if pos_diff > 4.0 or pos_diff < -4.0:
+            return True
+
+        speed_diff = (self.cav.localizer.get_ego_spd() - self.prev_speed) * 3.6
+        if speed_diff > 0.5 or speed_diff < -0.5:
+            return True
+
+        if not condition_verified and (now - self.lastCamGen >= self.max_CAM_T):
+            return True
+
+        return False
+
+    def processCAM(self, CAM):
+        referencePosition = CAM['referencePosition']
+        highFreqContainer = CAM['highFrequencyContainer']
+
+        # Compute the CARLA transform with the longitude and latitude values
+        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
+                                                  float(referencePosition['longitude']) / 10000000,
+                                                  referencePosition['altitude'],
+                                                  self.cav.localizer.geo_ref.latitude,
+                                                  self.cav.localizer.geo_ref.longitude, 0.0)
+
+        fromTransform = carla.Transform(
+            carla.Location(
+                x=carlaX, y=carlaY, z=referencePosition['altitude']), carla.Rotation(
+                pitch=0, yaw=float(highFreqContainer['heading']) / 10, roll=0))
+        carlaTransform = fromTransform
+        newCV = Perception(carlaTransform.location.x,
+                           carlaTransform.location.y,
+                           float(highFreqContainer['vehicleWidth']) / 10.0,
+                           float(highFreqContainer['vehicleLength']) / 10.0,
+                           CAM['timestamp'] / 1000,
+                           100,
+                           float(highFreqContainer['speed']) / 100 * math.cos(
+                               math.radians(carlaTransform.rotation.yaw)),
+                           float(highFreqContainer['speed']) / 100 * math.sin(
+                               math.radians(carlaTransform.rotation.yaw)),
+                           carlaTransform.rotation.yaw,
+                           ID=CAM['stationID'])
+        newCV.yaw = carlaTransform.rotation.yaw
+        # print('Vehicle ' + str(self.cav.vehicle.id) + ' received CAM from vehicle ' + str(CAM['stationID']))
+        self.cav.ldm_mutex.acquire()
+        # ldm_id = CAMfusion(self.cav, newCV)
+        ldm_id = self.cav.LDM.CAMfusion(newCV)
+        self.cav.ldm_mutex.release()
+        if CAM['isJoinable'] is True and self.V2Xagent.pcService is not None:
+            self.V2Xagent.pcService.updateJoinableList(ldm_id)
+        return True
+
+    def generateCAM(self):
+        referencePosition = {
+            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
+            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
+            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
+        }
+        highFreqContainer = {
+            'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
+            'speed': int(self.cav.localizer.get_ego_spd() * 100 / 3.6),
+            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),
+            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20) if self.cav.vehicle.bounding_box.extent.y > 0 else 1,
+            'acceleration': int(self.cav.localizer.get_ego_acc() * 10) if abs(self.cav.localizer.get_ego_acc() * 10) < 160 else 161,
+            'yawRate': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10)
+        }
+        cam = {
+            'type': 'CAM',
+            'stationID': int(self.cav.vehicle.id),
+            'timestamp': int((self.cav.time * 1000)) % 65536,
+            'referencePosition': referencePosition,
+            'highFrequencyContainer': highFreqContainer,
+        }
+        if self.V2Xagent.pcService is not None:
+            cam['isJoinable'] = True if self.V2Xagent.pcService.getIsJoinable() else False
+        else:
+            cam['isJoinable'] = False
+
+        # print('Vehicle ' + str(self.cav.vehicle.id) + ' sent CAM')
+        self.prev_heading = self.cav.localizer.get_ego_pos().rotation.yaw
+        self.prev_speed = self.cav.localizer.get_ego_spd()
+        self.prev_distance = self.cav.localizer.get_ego_pos().location
+        self.lastCamGen = self.cav.time * 1000
+        self.cam_sent = 0
+        return cam
diff --git a/opencda/customize/v2x/CPservice.py b/opencda/customize/v2x/CPservice.py
new file mode 100644
index 000000000..45e8e0aea
--- /dev/null
+++ b/opencda/customize/v2x/CPservice.py
@@ -0,0 +1,217 @@
+from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
+import math
+import carla
+import time
+import csv
+import random
+from opencda.customize.v2x.aux import Perception
+
+
+class CPservice(object):
+    def __init__(
+            self,
+            cav,
+            V2Xagent,
+            ObjInclusionConfig=1):
+        self.cav = cav
+        self.V2Xagent = V2Xagent
+        self.cpm_sent = 0
+        self.last_cpm = 0
+        self.recvCPMmap = {}
+        self.lastIncluded = []
+        self.objInclusionConfig = ObjInclusionConfig
+        self.minPositionChangeThreshold = 4.0  # meters
+        self.minGroundSpeedChangeThreshold = 0.5  # m/s
+        self.minHeadingChangeThreshold = 4.0  # degrees
+
+    def checkCPMconditions(self):
+        CPM = {}
+        if (self.cav.time * 1000) - self.last_cpm > 100:
+            if self.cav.pldm and self.cav.PLDM is not None:
+                LDM = self.cav.PLDM.getCPM()
+            else:
+                LDM = self.cav.LDM.getCPM()
+
+            if self.objInclusionConfig == 0:
+                CPM = LDM
+            else:
+                for ID, LDMobj in LDM.items():
+                    check = (
+                            LDMobj.detected and
+                            LDMobj.onSight and
+                            LDMobj.tracked and
+                            LDMobj.getLatestPoint().timestamp >= self.cav.time - 1.0
+                    )
+                    if not check:
+                        continue
+                    if ID not in self.lastIncluded or LDMobj.CPM_lastIncluded is None:
+                        CPM[ID] = LDMobj
+                        continue
+                    if self.cav.LDM.LDM[ID].CPM_lastIncluded is not None:
+                        dx = (LDMobj.perception.xPosition - self.cav.LDM.LDM[ID].CPM_lastIncluded.xPosition)
+                        dy = (LDMobj.perception.yPosition - self.cav.LDM.LDM[ID].CPM_lastIncluded.yPosition)
+                        dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
+                        if dist > self.minPositionChangeThreshold:
+                            CPM[ID] = LDMobj
+                            continue
+                        dvx = (LDMobj.perception.xSpeed - self.cav.LDM.LDM[ID].CPM_lastIncluded.xSpeed)
+                        dvy = (LDMobj.perception.ySpeed - self.cav.LDM.LDM[ID].CPM_lastIncluded.ySpeed)
+                        dv = math.sqrt(math.pow(dvx, 2) + math.pow(dvy, 2))
+                        if dv > self.minGroundSpeedChangeThreshold:
+                            CPM[ID] = LDMobj
+                            continue
+                        dheading = math.degrees(math.atan2(dvy, dvx))
+                        if dheading > self.minHeadingChangeThreshold and (math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2)) > 1.0):
+                            CPM[ID] = LDMobj
+                            continue
+                        if self.cav.LDM.LDM[ID].CPM_lastIncluded.timestamp < self.cav.time - 1.0:
+                            CPM[ID] = LDMobj
+                            continue
+            return CPM
+        else:
+            return False
+
+    def generateCPM(self, CPM):
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        # if self.cav.pldm and self.cav.PLDM is not None:
+        #     CPM = self.cav.PLDM.getCPM()
+        # else:
+        #     LDM = self.cav.LDM.getCPM()
+
+        ego_spd = ego_spd / 3.6  # km/h to m/s
+
+        POs = []
+        nPOs = 0
+
+        # IDs = random.sample(range(1, 256), 10)
+        for carlaID, LDMobj in CPM.items():
+
+            if LDMobj.ITStype == 'vehicle':
+                dx = (LDMobj.perception.xPosition - ego_pos.location.x)
+                dy = (LDMobj.perception.yPosition - ego_pos.location.y)
+                dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
+
+                heading = math.degrees(math.atan2(LDMobj.perception.ySpeed, LDMobj.perception.xSpeed))
+
+                # For debugging
+                POs.append({'ObjectID': int(LDMobj.id),
+                            'Heading': int(LDMobj.perception.heading * 10),  # In degrees/10
+                            'Yaw': int(LDMobj.perception.yaw * 10),  # In degrees/10
+                            'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
+                            'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
+                            'xAcceleration': int(LDMobj.perception.xacc * 100),
+                            'yAcceleration': int(LDMobj.perception.yacc * 100),
+                            'vehicleWidth': int(LDMobj.perception.width * 10),  # In meters/10
+                            'vehicleLength': int(LDMobj.perception.length * 10),  # In meters/10
+                            'xDistance': int(dx * 100),  # Centimeters
+                            'yDistance': int(dy * 100),  # Centimeters
+                            'confidence': int((100 - dist) if dist < 100 else 0),
+                            'timestamp': int(LDMobj.getLatestPoint().timestamp * 1000)})
+                print('Vehicle '+str(self.cav.vehicle.id) +' [CPM] ' + str(LDMobj.id) + ' heading: ' + str(LDMobj.perception.heading) + ',' + str(LDMobj.perception.yaw))
+                nPOs = nPOs + 1
+                if self.cav.pldm and self.cav.PLDM is not None:
+                    self.cav.PLDM.PLDM[LDMobj.id].CPM_lastIncluded = LDMobj.perception
+                else:
+                    self.cav.LDM.LDM[LDMobj.id].CPM_lastIncluded = LDMobj.perception
+                self.lastIncluded.append(LDMobj.id)
+                if nPOs == 10:
+                    break
+
+        referencePosition = {
+            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
+            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),  # 0,1 microdegrees
+            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),  # 0,1 microdegrees
+        }
+
+        stationData = {
+            'heading': int(ego_pos.rotation.yaw * 10),  # In degrees/10
+            'speed': int(ego_spd * 100),  # Centimeters per second
+            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),  # Centimeters
+            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20) if self.cav.vehicle.bounding_box.extent.y > 0 else 1,
+            'acceleration': int(self.cav.localizer.get_ego_acc() * 10) if abs(self.cav.localizer.get_ego_acc() * 10) < 160 else 161,
+        }
+
+        CPM = {'type': 'CPM',
+               'stationID': self.cav.vehicle.id,
+               'timestamp': int((self.cav.time * 1000)) % 65536,
+               'stationType': self.getStationType(),
+               'numberOfPOs': nPOs,
+               'perceivedObjects': POs,
+               'referencePosition': referencePosition,
+               'stationData': stationData}
+        # print(CPM, '\n')
+        self.last_cpm = self.cav.time * 1000
+        return CPM
+
+    def processCPM(self, CPM):
+        referencePosition = CPM['referencePosition']
+        stationData = CPM['stationData']
+        newPOs = []
+        t_parse = 0
+        t_fusion = 0
+        # Compute the CARLA transform with the longitude and latitude values
+        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
+                                                  float(referencePosition['longitude']) / 10000000,
+                                                  referencePosition['altitude'],
+                                                  self.cav.localizer.geo_ref.latitude,
+                                                  self.cav.localizer.geo_ref.longitude, 0.0)
+        carlaTransform = carla.Transform(
+            carla.Location(
+                x=carlaX, y=carlaY, z=carlaZ),
+            carla.Rotation(
+                pitch=0, yaw=float(stationData['heading']) / 10, roll=0))
+        if 'perceivedObjects' in CPM:
+            init_t = time.time_ns() / 1000
+            for CPMobj in CPM['perceivedObjects']:
+                if CPMobj['ObjectID'] == self.cav.vehicle.id:
+                    continue
+                # Convert CPM relative values to absolute CARLA values to then match/fusion with LDMobjects
+                xPos = carlaTransform.location.x + float(CPMobj['xDistance']) / 100
+                yPos = carlaTransform.location.y + float(CPMobj['yDistance']) / 100
+
+                if CPMobj['vehicleWidth'] == 0 or CPMobj['vehicleLength'] == 0:
+                    continue
+                # CPM object converted to LDM format
+                newPO = Perception(xPos,
+                                   yPos,
+                                   float(CPMobj['vehicleWidth']) / 10,
+                                   float(CPMobj['vehicleLength']) / 10,
+                                   float(CPMobj['timestamp']) / 1000,
+                                   float(CPMobj['confidence']),
+                                   ID=CPMobj['ObjectID'])
+
+                newPO.xSpeed = float(CPMobj['xSpeed']) / 100
+                newPO.ySpeed = float(CPMobj['ySpeed']) / 100
+                newPO.xacc = float(CPMobj['xAcceleration']) / 100
+                newPO.yacc = float(CPMobj['yAcceleration']) / 100
+                newPO.heading = float(CPMobj['Heading']) / 10
+                newPO.yaw = float(CPMobj['Heading']) / 10
+                newPOs.append(newPO)
+            t_parse += time.time_ns() / 1000 - init_t
+            init_t = time.time_ns() / 1000
+
+            self.recvCPMmap[CPM['stationID']] = newPOs
+            self.cav.ldm_mutex.acquire()
+            self.cav.LDM.CPMfusion(newPOs, CPM['stationID'])
+            self.cav.ldm_mutex.release()
+            t_fusion += time.time_ns() / 1000 - init_t
+
+        return t_parse, t_fusion
+
+    def getStationType(self):
+        stationType = 5  # passengerCar
+        if self.cav.vehicle.attributes['number_of_wheels'] == 2:
+            if self.cav.vehicle.type_id.find('crossbike') != -1 or \
+                    self.cav.vehicle.type_id.find('gazelle') != -1 or \
+                    self.cav.vehicle.type_id.find('diamondback') != -1:
+                stationType = 2  # bicycle
+            else:
+                stationType = 4  # motorcycle
+        if self.cav.vehicle.type_id.find('firetruck') != -1 or \
+                self.cav.vehicle.type_id.find('police') != -1 or \
+                self.cav.vehicle.type_id.find('ambulance') != -1:
+            stationType = 10  # specialVehicle
+        if self.cav.vehicle.type_id.find('carlacola') != -1:
+            stationType = 7  # light truck
+
+        return stationType
diff --git a/opencda/customize/v2x/LDM.py b/opencda/customize/v2x/LDM.py
index 1351b916a..e82e4410c 100644
--- a/opencda/customize/v2x/LDM.py
+++ b/opencda/customize/v2x/LDM.py
@@ -9,8 +9,12 @@
     o3d_visualizer_init, o3d_pointcloud_encode, o3d_visualizer_show, o3d_visualizer_showLDM
 from opencda.core.sensing.perception.obstacle_vehicle import \
     ObstacleVehicle
+from opencda.core.sensing.perception.obstacle_pedestrian import \
+    ObstacleVRU
 import opencda.core.sensing.perception.sensor_transformation as st
 import csv
+import os
+import pandas as pd
 
 from opencda.customize.v2x.LDMutils import LDM_to_lidarObjects
 from opencda.customize.v2x.LDMutils import matchLDMobject
@@ -21,7 +25,10 @@
 from scipy.optimize import linear_sum_assignment as linear_assignment
 from opencda.customize.v2x.aux import newLDMentry
 from opencda.customize.v2x.aux import Perception
+
 from opencda.customize.v2x.LDMutils import PO_kalman_filter
+from opencda.customize.v2x.LDMutils import pedestrian_kalman_filter
+
 from opencda.customize.v2x.LDMutils import obj_to_o3d_bbx
 from opencda.customize.v2x.aux import ColorGradient
 
@@ -72,11 +79,99 @@ def match_LDM(self, object_list):
                         math.pow((obj.xPosition - LDMpredX), 2) + math.pow(
                             (obj.yPosition - LDMpredY), 2))
                     iou = compute_IoU(LDMpredbbx, object_list[j].o3d_bbx)
-                    try:
-                        iou = compute_IoU_lineSet(LDMpredline_set, object_list[j].line_set)
-                    except RuntimeError as e:
-                        # print("Unable to compute the oriented bounding box:", e)
-                        pass
+                    # try:
+                    #     iou = compute_IoU_lineSet(LDMpredline_set, object_list[j].line_set)
+                    # except RuntimeError as e:
+                    #     # print("Unable to compute the oriented bounding box:", e)
+                    #     pass
+                    if iou > 1:
+                        print("Error")
+                    if iou > 0:
+                        IoU_map[i, j] = iou
+                    elif dist < 1:   # elif dist < 3 -->IoU_map[i, j] = dist - 1000
+                        IoU_map[i, j] = 0
+                    else:
+                        IoU_map[i, j] = -1000
+                i += 1
+                ldm_ids.append(ID)
+
+            matched, new = linear_assignment(-IoU_map)
+            return IoU_map, new, matched, ldm_ids
+        return None, None, None, None
+
+    def match_LDM_vehicles(self, object_list):
+        LDM_vehicles = {}
+        for ID, LDMobj in self.LDM.items():
+            if LDMobj.itsType == 'vehicle':
+                LDM_vehicles[ID] = LDMobj
+
+        if len(self.LDM) != 0:
+            IoU_map = np.zeros((len(LDM_vehicles), len(object_list)), dtype=np.float32)
+            i = 0
+            ldm_ids = []
+            for ID, LDMobj in LDM_vehicles.items():
+                for j in range(len(object_list)):
+                    obj = object_list[j]
+                    object_list[j].o3d_bbx, object_list[j].line_set = self.cav.LDMobj_to_o3d_bbx(obj)
+                    LDMpredX = LDMobj.perception.xPosition
+                    LDMpredY = LDMobj.perception.yPosition
+                    LDMpredbbx, LDMpredline_set = get_o3d_bbx(self.cav, LDMpredX, LDMpredY, LDMobj.perception.width,
+                                                              LDMobj.perception.length, LDMobj.perception.yaw)
+
+                    dist = math.sqrt(
+                        math.pow((obj.xPosition - LDMpredX), 2) + math.pow(
+                            (obj.yPosition - LDMpredY), 2))
+                    iou = compute_IoU(LDMpredbbx, object_list[j].o3d_bbx)
+                    # try:
+                    #     iou = compute_IoU_lineSet(LDMpredline_set, object_list[j].line_set)
+                    # except RuntimeError as e:
+                    #     # print("Unable to compute the oriented bounding box:", e)
+                    #     pass
+                    if iou > 1:
+                        print("Error")
+                    if iou > 0:
+                        IoU_map[i, j] = iou
+                    elif dist < 3:  # if dist < 3 --> IoU_map[i, j] = 0
+                        IoU_map[i, j] = dist - 1000
+                    else:
+                        IoU_map[i, j] = -1000
+                i += 1
+                ldm_ids.append(ID)
+
+            matched, new = linear_assignment(-IoU_map)
+            return IoU_map, new, matched, ldm_ids
+        return None, None, None, None
+
+    def match_LDM_VRU(self, object_list):
+
+        LDM_VRU = {}
+        for ID, LDMobj in self.LDM.items():
+            if LDMobj.itsType in ['pedestrian', 'bicycle', 'motorcycle']:
+                LDM_VRU[ID] = LDMobj
+
+        if len(self.LDM) != 0:
+            IoU_map = np.zeros((len(LDM_VRU), len(object_list)), dtype=np.float32)
+            i = 0
+            ldm_ids = []
+            # for ID, LDMobj in self.LDM.items():
+            for ID, LDMobj in LDM_VRU.items():
+                for j in range(len(object_list)):
+                    obj = object_list[j]
+                    object_list[j].o3d_bbx, object_list[j].line_set = self.cav.LDMobj_to_o3d_bbx(obj)
+                    LDMpredX = LDMobj.perception.xPosition
+                    LDMpredY = LDMobj.perception.yPosition
+                    LDMpredbbx, LDMpredline_set = get_o3d_bbx(self.cav, LDMpredX, LDMpredY, LDMobj.perception.width,
+                                                              LDMobj.perception.length, LDMobj.perception.yaw)
+
+                    dist = math.sqrt(
+                        math.pow((obj.xPosition - LDMpredX), 2) + math.pow(
+                            (obj.yPosition - LDMpredY), 2))
+                    iou = compute_IoU(LDMpredbbx, object_list[j].o3d_bbx)
+                    # try:
+                    #     iou = compute_IoU_lineSet(LDMpredline_set, object_list[j].line_set)
+                    # except RuntimeError as e:
+                    #     # print("Unable to compute the oriented bounding box:", e)
+                    #     pass
                     if iou > 0:
                         IoU_map[i, j] = iou
                     elif dist < 3:  # if dist < 3 --> IoU_map[i, j] = 0
@@ -92,18 +187,35 @@ def match_LDM(self, object_list):
     def updateLDM(self, object_list):
         # Predict position of current LDM tracks before attempting to match
         for ID, LDMobj in self.LDM.items():
-            # diff = self.cav.time - LDMobj.perception.timestamp
             self.LDM[ID].onSight = False  # It will go back to True when appending if we match it
-            LDMobj.perception.xPosition, \
-                LDMobj.perception.yPosition, \
-                LDMobj.perception.xSpeed, \
-                LDMobj.perception.ySpeed, \
-                LDMobj.perception.xacc, \
-                LDMobj.perception.yacc = self.LDM[ID].kalman_filter.predict(self.cav.get_time_ms())
+
+            if (LDMobj.itsType == "pedestrian"):
+                LDMobj.perception.xPosition, \
+                    LDMobj.perception.yPosition, \
+                    LDMobj.perception.xSpeed, \
+                    LDMobj.perception.ySpeed = self.LDM[ID].kalman_filter.predict(self.cav.get_time_ms())
+
+
+                self.log_kalman_prediction({
+                        'Timestamp': self.cav.get_time(),
+                        'ID': ID,
+                        'Prediction_x': LDMobj.perception.xPosition,
+                        'Prediction_y': LDMobj.perception.yPosition
+                        })
+
+            else:
+                LDMobj.perception.xPosition, \
+                    LDMobj.perception.yPosition, \
+                    LDMobj.perception.xSpeed, \
+                    LDMobj.perception.ySpeed, \
+                    LDMobj.perception.xacc, \
+                    LDMobj.perception.yacc = self.LDM[ID].kalman_filter.predict(self.cav.get_time_ms())
+
             LDMobj.perception.o3d_bbx, LDMobj.perception.line_set = self.cav.LDMobj_to_o3d_bbx(LDMobj.perception)
-            LDMobj.perception.timestamp = self.cav.time
+            LDMobj.perception.timestamp = self.cav.get_time()
 
-        IoU_map, new, matched, ldm_ids = self.match_LDM(object_list['vehicles'])
+
+        IoU_map, new, matched, ldm_ids = self.match_LDM_vehicles(object_list['vehicles'])
         for j in range(len(object_list['vehicles'])):
             obj = object_list['vehicles'][j]
             obj.o3d_bbx, obj.line_set = self.cav.LDMobj_to_o3d_bbx(obj)
@@ -117,14 +229,49 @@ def updateLDM(self, object_list):
             newID = obj.id
             if obj.id == 1:
                 print('newID:', newID)
-            self.LDM[newID] = newLDMentry(obj, newID, connected=False, onSight=True)
+            self.LDM[newID] = newLDMentry(obj, newID, detected=True, onSight=True)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter(Q_noise_std_dev=5, R_std_dev=0.5)
             self.LDM[newID].kalman_filter = PO_kalman_filter()
             self.LDM[newID].kalman_filter.init_step(obj.xPosition,
                                                     obj.yPosition,
-                                                    vx=self.cav.vehicle.get_velocity().x,
-                                                    vy=self.cav.vehicle.get_velocity().y,
-                                                    ax=self.cav.vehicle.get_acceleration().x,
-                                                    ay=self.cav.vehicle.get_acceleration().y)
+                                                    vx=obj.xSpeed,
+                                                    vy=obj.ySpeed,
+                                                    ax=obj.xacc,
+                                                    ay=obj.yacc)
+
+        IoU_map, new, matched, ldm_ids = self.match_LDM_VRU(object_list['VRU'])
+        for j in range(len(object_list['VRU'])):
+            obj = object_list['VRU'][j]
+            obj.o3d_bbx, obj.line_set = self.cav.LDMobj_to_o3d_bbx(obj)
+            if IoU_map is not None:
+                matchedObj = matched[np.where(new == j)[0]]
+                if IoU_map[matchedObj, j] != -1000:
+                    self.appendObject(obj, ldm_ids[matchedObj[0]])
+                    continue
+            # we are detecting a new object
+            # newID = self.LDM_ids.pop()
+            newID = obj.id
+            if obj.id == 1:
+                print('newID:', newID)
+            self.LDM[newID] = newLDMentry(obj, newID, detected=True, onSight=True)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter(Q_noise_std_dev=0.5, R_std_dev=0.5)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter()
+            if self.LDM[newID].itsType == 'motorcycle' or self.LDM[newID].itsType == 'bicycle':
+                self.LDM[newID].kalman_filter = PO_kalman_filter()
+                self.LDM[newID].kalman_filter.init_step(x=obj.xPosition,
+                                                        y=obj.yPosition,
+                                                        vx=obj.xSpeed,
+                                                        vy=obj.ySpeed,
+                                                        ax=obj.xacc,
+                                                        ay=obj.yacc)
+            else:
+                self.LDM[newID].kalman_filter = pedestrian_kalman_filter()
+                self.LDM[newID].kalman_filter.init_step(x=obj.xPosition,
+                                                        y=obj.yPosition,
+                                                        vx=obj.xSpeed,
+                                                        vy=obj.ySpeed,
+                                                        now=self.cav.get_time_ms())
+
 
         # Delete old perceptions
         if self.cav.time > 2.0:
@@ -134,10 +281,20 @@ def updateLDM(self, object_list):
                 del self.LDM[ID]
                 self.LDM_ids.add(ID)
 
+        # delete old connected objects
         if self.cav.time > 2.0:
             T = self.cav.time - 0.5
             old_ids = [ID for ID, LDMobj in self.LDM.items() if LDMobj.getLatestPoint().timestamp <= T
-                       and (self.cav.vehicle.id not in LDMobj.perceivedBy or not LDMobj.tracked)]
+                       and (self.cav.vehicle.id not in LDMobj.perceivedBy or not LDMobj.tracked) and not LDMobj.itsType == "pedestrian"]
+            for ID in old_ids:
+                del self.LDM[ID]
+                self.LDM_ids.add(ID)
+
+        # delete old connected pedestrians
+        if self.cav.time > 2.0:
+            T = self.cav.time - 3
+            old_ids = [ID for ID, LDMobj in self.LDM.items() if LDMobj.getLatestPoint().timestamp <= T
+                       and (self.cav.vehicle.id not in LDMobj.perceivedBy or not LDMobj.tracked) and LDMobj.itsType == "pedestrian"]
             for ID in old_ids:
                 del self.LDM[ID]
                 self.LDM_ids.add(ID)
@@ -164,22 +321,26 @@ def updateLDM(self, object_list):
                     gt)
 
     def LDM_to_lidarObjects(self):
-        lidarObjects = []
+        lidarObjectsVeh = []
+        lidarObjectsVRU = []
         for ID, LDMobj in self.LDM.items():
             egoPos = self.cav.localizer.get_ego_pos()
             dist = math.sqrt(math.pow((LDMobj.perception.xPosition - egoPos.location.x), 2) +
                              math.pow((LDMobj.perception.yPosition - egoPos.location.y), 2))
             if dist < 100:
-                lidarObjects.append(LDMobj)  # return last sample of each object in LDM
-        return {'vehicles': lidarObjects}
+                if LDMobj.itsType == 'vehicle':
+                    lidarObjectsVeh.append(LDMobj)  # return last sample of each object in LDM
+                else:
+                    lidarObjectsVRU.append(LDMobj)
+        return {'vehicles': lidarObjectsVeh, 'VRU': lidarObjectsVRU}
 
     def clean_duplicates(self):
-        objects = [obj.perception for obj in self.LDM.values()]
+        objects = [obj.perception for obj in self.LDM.values() if obj.itsType != "pedestrian"]
         IoU_map, new, matched, ldm_ids = self.match_LDM(objects)
         indices_to_delete = []
         for i in range(len(objects)):
             for j in range(i + 1, len(objects)):
-                if IoU_map[i][j] > 0 and not self.LDM[ldm_ids[j]].connected:
+                if IoU_map[i][j] > 0 and self.LDM[ldm_ids[j]].detected:
                     indices_to_delete.append(j)
         indices_to_delete = list(set(indices_to_delete))
 
@@ -196,7 +357,7 @@ def appendObject(self, obj, id):
         self.LDM[id].onSight = True
         # Compute the estimated heading angle
         obj.heading = obj.yaw
-        if self.LDM[id].connected is True:
+        if self.LDM[id].detected is False or self.LDM[id].VAM is True:
             # If this entry is of a connected vehicle
             # obj.connected = True  # We do this to take the width and length from CAM always
             obj.width = self.LDM[id].perception.width
@@ -214,19 +375,61 @@ def appendObject(self, obj, id):
             obj.width = width_max
             obj.length = length_max
             yaw_list = [obj.yaw]
+            xpos = [obj.xPosition]
+            ypos = [obj.yPosition]
             for prev_obj in self.LDM[id].pathHistory:
                 yaw_list.append(prev_obj.yaw)
+                xpos.append(prev_obj.xPosition)
+                ypos.append(prev_obj.yPosition)
             obj.yaw = np.mean(yaw_list)
 
+            delta_x = xpos[0]-xpos[-1]
+            delta_y = ypos[0]-ypos[-1]
+            heading_rad = math.atan2(delta_y, delta_x)
+            heading_deg = math.degrees(heading_rad)
+            obj.yaw = heading_deg
+
         obj.o3d_bbx, obj.line_set = LDMobj_to_o3d_bbx(self.cav, obj)
 
-        x, y, vx, vy, ax, ay = self.LDM[id].kalman_filter.update(obj.xPosition, obj.yPosition, self.cav.get_time_ms())
-        obj.xPosition = x
-        obj.yPosition = y
-        obj.xSpeed = vx
-        obj.ySpeed = vy
-        obj.xacc = ax
-        obj.yacc = ay
+        if self.LDM[id].itsType == 'pedestrian':
+            x, y, vx, vy = self.LDM[id].kalman_filter.update(obj.xPosition, obj.yPosition, self.cav.get_time_ms())
+        else:
+            x, y, vx, vy, ax, ay = self.LDM[id].kalman_filter.update(obj.xPosition, obj.yPosition, self.cav.get_time_ms())
+
+        gt = self.cav.perception_manager.getGTobjects()
+        for key,list in gt.items():
+            if key == "VRU":
+                for item in list:
+                    if item.carla_id == id:
+                        # print("ID: ", id)
+                        # print('Measurement: ', "x: ", obj.xPosition, ",y: ", obj.yPosition)
+                        # print("GT: ", "x: ", item.location.x, ",y: ", item.location.y)
+                        # print('KFupdate: ', "x: ", x, ",y: ", y)
+                        self.log_kalman_data({
+                            'Timestamp' : obj.timestamp,
+                            'ID': id,
+                            'Measurement_x' : obj.xPosition,
+                            'Measurement_y': obj.yPosition,
+                            'GT_x' : item.location.x,
+                            'GT_y' : item.location.y,
+                            'KFupdate_x' : x,
+                            'KFupdate_y' : y
+                        })
+
+        if self.LDM[id].itsType == 'pedestrian':
+            obj.xPosition = x
+            obj.yPosition = y
+
+        else:
+            obj.xPosition = x
+            obj.yPosition = y
+            obj.xSpeed = vx
+            obj.ySpeed = vy
+
+        # obj.xSpeed = vx
+        # obj.ySpeed = vy
+        # obj.xacc = ax
+        # obj.yacc = ay
         # obj.confidence = self.computeGT_accuracy(obj, id)
         self.LDM[id].insertPerception(obj)
 
@@ -264,11 +467,11 @@ def cleanDuplicates(self):
             if matchedId != -1:
                 if LDMobj.PLU is True and self.LDM[matchedId].PLU is False:
                     duplicates.append(matchedId)
-                elif LDMobj.connected is False and self.LDM[matchedId].connected:
+                elif LDMobj.detected is True and self.LDM[matchedId].detected is False:
                     duplicates.append(matchedId)
-                elif LDMobj.connected is False and LDMobj.timestamp > self.LDM[matchedId].timestamp:
+                elif LDMobj.detected is True and LDMobj.timestamp > self.LDM[matchedId].timestamp:
                     duplicates.append(matchedId)
-                elif LDMobj.connected is False and \
+                elif LDMobj.detected is True and \
                         (LDMobj.width + LDMobj.length) > (self.LDM[matchedId].width + self.LDM[matchedId].length):
                     duplicates.append(matchedId)
                 elif LDMobj.connected is True:
@@ -295,10 +498,86 @@ def getCPM(self):
     def getAllPOs(self):
         POs = []
         for ID, LDMobj in self.LDM.items():
-            if not LDMobj.connected:
+            if LDMobj.detected:
                 POs.append(LDMobj)
         return POs
 
+    def VAMfusion(self, VAMobject):
+        VAMobject.connected = True
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+
+        #todo: adjust the confidence value coming fromm VAMs
+        VAMobject.confidence = 0.8
+
+        # if self.last_update > VAMobject.timestamp:
+        #     diff = self.last_update - VAMobject.timestamp
+        #     # If it's an old perception, we need to predict its current position
+        #     VAMobject.xPosition += VAMobject.xSpeed * diff + 0.5 * VAMobject.xacc * (diff ** 2)
+        #     VAMobject.yPosition += VAMobject.ySpeed * diff + 0.5 * VAMobject.yacc * (diff ** 2)
+        #
+        #     #and we penalize the confidence
+        #     VAMobject.confidence *= math.exp(-diff)
+
+        VAMobject.o3d_bbx, VAMobject.line_set = get_o3d_bbx(self.cav,
+                                                            VAMobject.xPosition,
+                                                            VAMobject.yPosition,
+                                                            VAMobject.width,
+                                                            VAMobject.length,
+                                                            VAMobject.yaw)
+
+        if self.LDM.get(VAMobject.id) and self.LDM[VAMobject.id].VAM:
+            print(self.cav.get_time(), f" - Not the first VAM - id {VAMobject.id}")
+            # if it is not the first time we receive this VAM
+            self.LDM[VAMobject.id].kalman_filter.predict(self.cav.get_time_ms())
+            x, y, vx, vy = self.LDM[VAMobject.id].kalman_filter.update(VAMobject.xPosition,
+                                                                       VAMobject.yPosition,
+                                                                       self.cav.get_time_ms())
+            # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
+
+            VAMobject.xPosition = x
+            VAMobject.yPosition = y
+            # VAMobject.xSpeed = vx
+            # VAMobject.ySpeed = vy
+            # VAMobject.xacc = ax
+            # VAMobject.yacc = ay
+            self.LDM[VAMobject.id].insertPerception(VAMobject)
+
+        else: #it is the first time we receive this VAM, we try to match it
+            IoU_map, new, matched, ldm_ids = self.match_LDM([VAMobject])
+
+            if IoU_map is not None:
+                if IoU_map[matched[0], new[0]] >= 0.2:
+                    # We are also perceiving this object - or it is another pedestrian sending VAM
+                    # check if the id that we matched is connected or not, if so, we matched wrongly
+                    if not self.LDM[ldm_ids[matched[0]]].VAM:
+                        print(self.cav.get_time(), " - first time VAM - appending to LDM")
+                        self.append_VAM_object(VAMobject, ldm_ids[matched[0]])
+                        return
+            dist = math.sqrt(
+                math.pow((VAMobject.xPosition - ego_pos.location.x), 2) + math.pow(
+                    (VAMobject.yPosition - ego_pos.location.y), 2))
+
+            if dist < 3:
+                return
+            # newID = self.LDM_ids.pop() # TODO: solve ms-van3t api resulting in changing POids from same cav
+            print(self.cav.get_time(), f" - New entry - ID {VAMobject.id}")
+            print("speed x = ", VAMobject.xSpeed, "  y = ", VAMobject.ySpeed)
+            newID = VAMobject.id
+            self.LDM[newID] = newLDMentry(VAMobject, newID, detected=False, onSight=False) #detected=false
+            self.LDM[newID].CPM = False
+            self.LDM[newID].VAM = True
+            # self.LDM[newID].perceivedBy.append(VAMobject)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter(Q_noise_std_dev=0.5, R_std_dev=0.5)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter()
+            self.LDM[newID].kalman_filter = pedestrian_kalman_filter()
+            self.LDM[newID].kalman_filter.init_step(x=VAMobject.xPosition,
+                                                    y=VAMobject.yPosition,
+                                                    vx=VAMobject.xSpeed,
+                                                    vy=VAMobject.ySpeed,
+                                                    now=self.cav.get_time_ms())
+
+
+
     def CAMfusion(self, CAMobject):
         CAMobject.connected = True
         CAMobject.o3d_bbx, CAMobject.line_set = get_o3d_bbx(self.cav,
@@ -308,20 +587,19 @@ def CAMfusion(self, CAMobject):
                                                             CAMobject.length,
                                                             CAMobject.yaw)
         if CAMobject.id in self.LDM:
-            # If this is not the first CAM from this vehicle
+            # If this is not the first CAM
             self.LDM[CAMobject.id].kalman_filter.predict(self.cav.get_time_ms())
             x, y, vx, vy, ax, ay = self.LDM[CAMobject.id].kalman_filter.update(CAMobject.xPosition, CAMobject.yPosition,
                                                                                self.cav.get_time_ms())
             # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
             CAMobject.xPosition = x
             CAMobject.yPosition = y
-            # We trust the CAM speed
-            # CAMobject.xSpeed = vx
-            # CAMobject.ySpeed = vy
+            CAMobject.xSpeed = vx
+            CAMobject.ySpeed = vy
             CAMobject.xacc = ax
             CAMobject.yacc = ay
+            self.LDM[CAMobject.id].detected = False
             self.LDM[CAMobject.id].insertPerception(CAMobject)
-            self.LDM[CAMobject.id].connected = True
         else:
             # If this is the first CAM, check if we are already perceiving it
             IoU_map, new, matched, ldm_ids = self.match_LDM([CAMobject])
@@ -333,7 +611,8 @@ def CAMfusion(self, CAMobject):
             # Create new entry
             if CAMobject.id in self.cav.LDM_ids:
                 self.cav.LDM_ids.remove(CAMobject.id)
-            self.LDM[CAMobject.id] = newLDMentry(CAMobject, CAMobject.id, connected=True, onSight=True)
+            self.LDM[CAMobject.id] = newLDMentry(CAMobject, CAMobject.id, detected=False, onSight=True)
+            # self.LDM[CAMobject.id].kalman_filter = PO_kalman_filter(Q_noise_std_dev=5, R_std_dev=0.5)
             self.LDM[CAMobject.id].kalman_filter = PO_kalman_filter()
             self.LDM[CAMobject.id].kalman_filter.init_step(CAMobject.xPosition,
                                                            CAMobject.yPosition,
@@ -394,22 +673,32 @@ def CPMfusion(self, object_list, fromID):
                 continue
             # newID = self.LDM_ids.pop() # TODO: solve ms-van3t api resulting in changing POids from same cav
             newID = CPMobj.id
-            self.LDM[newID] = newLDMentry(CPMobj, newID, connected=False, onSight=False)
+            self.LDM[newID] = newLDMentry(CPMobj, newID, detected=True, onSight=False)
             self.LDM[newID].CPM = True
             self.LDM[newID].perceivedBy.append(fromID)
-            self.LDM[newID].kalman_filter = PO_kalman_filter()
-            self.LDM[newID].kalman_filter.init_step(CPMobj.xPosition,
-                                                    CPMobj.yPosition,
-                                                    CPMobj.xSpeed,
-                                                    CPMobj.ySpeed,
-                                                    CPMobj.xacc,
-                                                    CPMobj.yacc)
+            # self.LDM[newID].kalman_filter = PO_kalman_filter()
+            if CPMobj.itsType == "pedestrian":
+                self.LDM[newID].kalman_filter = pedestrian_kalman_filter()
+                self.LDM[newID].kalman_filter.init_step(x=CPMobj.xPosition,
+                                                        y=CPMobj.yPosition,
+                                                        vx=CPMobj.xSpeed,
+                                                        vy=CPMobj.ySpeed,
+                                                        now=self.cav.get_time_ms())
+            else:
+                self.LDM[newID].kalman_filter = PO_kalman_filter()
+                self.LDM[newID].kalman_filter.init_step(CPMobj.xPosition,
+                                                        CPMobj.yPosition,
+                                                        CPMobj.xSpeed,
+                                                        CPMobj.ySpeed,
+                                                        CPMobj.xacc,
+                                                        CPMobj.yacc)
             # self.recvCPMmap[fromID][CPMobj.id] = newID
 
+
     def append_CPM_object(self, CPMobj, id, fromID):
         if fromID not in self.LDM[id].perceivedBy:
             self.LDM[id].perceivedBy.append(fromID)
-        if CPMobj.timestamp < self.LDM[id].getLatestPoint().timestamp - 100:  # Consider objects up to 100ms old
+        if CPMobj.timestamp < self.LDM[id].getLatestPoint().timestamp - 0.100:  # Consider objects up to 100ms old
             return
 
         newLDMobj = Perception(CPMobj.xPosition,
@@ -420,6 +709,8 @@ def append_CPM_object(self, CPMobj, id, fromID):
                                CPMobj.confidence)
         newLDMobj.yaw = CPMobj.yaw
         newLDMobj.heading = CPMobj.heading
+        newLDMobj.itsType = CPMobj.itsType
+
         # If the object is also perceived locally
         if self.cav.vehicle.id in self.LDM[id].perceivedBy and self.LDM[id].onSight:
             # Compute weights depending on the POage and confidence (~distance from detecting vehicle)
@@ -455,15 +746,19 @@ def append_CPM_object(self, CPMobj, id, fromID):
         else:
             self.LDM[id].onSight = False
 
-        x, y, vx, vy, ax, ay = self.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition,
+        if CPMobj.itsType == "pedestrian":
+            x, y, vx, vy = self.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition,
+                                                                     self.cav.get_time_ms())
+        else:
+            x, y, vx, vy, ax, ay = self.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition,
                                                                  self.cav.get_time_ms())
         # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
         newLDMobj.xPosition = x
         newLDMobj.yPosition = y
-        newLDMobj.xSpeed = vx
-        newLDMobj.ySpeed = vy
-        newLDMobj.xacc = ax
-        newLDMobj.yacc = ay
+        # newLDMobj.xSpeed = vx
+        # newLDMobj.ySpeed = vy
+        # newLDMobj.xacc = ax
+        # newLDMobj.yacc = ay
 
         newLDMobj.o3d_bbx, newLDMobj.line_set = get_o3d_bbx(self.cav,
                                                             newLDMobj.xPosition,
@@ -471,10 +766,80 @@ def append_CPM_object(self, CPMobj, id, fromID):
                                                             newLDMobj.width,
                                                             newLDMobj.length,
                                                             newLDMobj.yaw)
-        # cav.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition, newLDMobj.width, newLDMobj.length)
+
         self.LDM[id].insertPerception(newLDMobj)
-        self.LDM[id].CPM = True
+        # self.LDM[id].CPM = True
 
+    def append_VAM_object(self, VAMobj, id):
+        # VAMobj.id and id can be different
+        # if the VAM info is older than 100ms with respect to the one stored on the LDM, we do nothing
+        if VAMobj.timestamp < self.LDM[id].getLatestPoint().timestamp - 0.100:
+            return
+
+        newLDMobj = Perception(VAMobj.xPosition,
+                               VAMobj.yPosition,
+                               VAMobj.width,
+                               VAMobj.length,
+                               VAMobj.timestamp,
+                               VAMobj.confidence)
+        newLDMobj.yaw = VAMobj.yaw
+        newLDMobj.heading = VAMobj.heading
+        newLDMobj.itsType = VAMobj.itsType
+
+
+        # If the object is also perceived locally we "fuse" the information
+        if self.cav.vehicle.id in self.LDM[id].perceivedBy and self.LDM[id].detected:  # .LDM[id].onSight:
+            # Compute weights depending on the POage and confidence (~distance from detecting vehicle)
+            LDMobj = self.LDM[id].perception
+            LDMobj_age = max(0.0, 100 - (self.cav.get_time() - LDMobj.timestamp))
+            VAMobj_age = max(0.0, 100 - (self.cav.get_time() - VAMobj.timestamp))
+
+            score_VAM = VAMobj_age * VAMobj.confidence * 2
+            score_LDM = LDMobj_age * LDMobj.confidence
+            total_score = score_LDM + score_VAM
+            if total_score == 0:
+                weightVAM = 0.5
+                weightLDM = 0.5
+            else:
+                weightVAM = score_VAM / total_score
+                weightLDM = score_LDM / total_score
+
+            newLDMobj.xPosition = (LDMobj.xPosition * weightLDM + VAMobj.xPosition * weightVAM) / (
+                    weightLDM + weightVAM)
+            newLDMobj.yPosition = (LDMobj.yPosition * weightLDM + VAMobj.yPosition * weightVAM) / (
+                    weightLDM + weightVAM)
+            newLDMobj.xSpeed = (VAMobj.xSpeed * weightVAM + LDMobj.xSpeed * weightLDM) / (weightLDM + weightVAM)
+            newLDMobj.ySpeed = (VAMobj.ySpeed * weightVAM + LDMobj.ySpeed * weightLDM) / (weightLDM + weightVAM)
+            newLDMobj.width = (VAMobj.width * weightVAM + LDMobj.width * weightLDM) / (weightLDM + weightVAM)
+            newLDMobj.length = (VAMobj.length * weightVAM + LDMobj.length * weightLDM) / (weightLDM + weightVAM)
+            newLDMobj.heading = (VAMobj.heading * weightVAM + LDMobj.heading * weightLDM) / (weightLDM + weightVAM)
+            newLDMobj.yaw = (VAMobj.yaw * weightVAM + LDMobj.yaw * weightLDM) / (weightLDM + weightVAM)
+            # newLDMobj.confidence = (VAMobj.confidence + LDMobj.confidence) / 2
+            newLDMobj.timestamp = self.cav.get_time()
+
+            # self.LDM[id].onSight = True
+        elif self.LDM[id].CPM:
+            self.LDM[id].onSight = False
+
+        x, y, vx, vy = self.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition,
+                                                                 self.cav.get_time_ms())
+        # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
+        newLDMobj.xPosition = x
+        newLDMobj.yPosition = y
+        # newLDMobj.xSpeed = vx
+        # newLDMobj.ySpeed = vy
+        # newLDMobj.xacc = ax
+        # newLDMobj.yacc = ay
+
+        newLDMobj.o3d_bbx, newLDMobj.line_set = get_o3d_bbx(self.cav,
+                                                            newLDMobj.xPosition,
+                                                            newLDMobj.yPosition,
+                                                            newLDMobj.width,
+                                                            newLDMobj.length,
+                                                            newLDMobj.yaw)
+        # cav.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition, newLDMobj.width, newLDMobj.length)
+        self.LDM[id].insertPerception(newLDMobj)
+        self.LDM[id].VAM = True
     def getLDM_tracked(self):
         tracked = {}
         for ID, LDMobj in self.LDM.items():
@@ -498,6 +863,7 @@ def get_LDM_size(self):
     def LDM2OpencdaObj(self, trafficLights):
         LDM = self.getLDM_tracked()
         retObjects = []
+        retObjectsVRU = []
         for ID, LDMObject in LDM.items():
             corner = np.asarray(LDMObject.perception.o3d_bbx.get_box_points())
             # covert back to unreal coordinate
@@ -508,8 +874,86 @@ def LDM2OpencdaObj(self, trafficLights):
             # project to world reference
             corner = st.sensor_to_world(corner, self.cav.perception_manager.lidar.sensor.get_transform())
             corner = corner.transpose()[:, :3]
-            object = ObstacleVehicle(corner, LDMObject.perception.o3d_bbx)
-            object.carla_id = LDMObject.id
-            retObjects.append(object)
+            if LDMObject.perception.itsType == 'vehicle':
+                object = ObstacleVehicle(corner, LDMObject.perception.o3d_bbx)
+                object.carla_id = LDMObject.id
+                retObjects.append(object)
+            elif LDMObject.perception.itsType == 'pedestrian':
+                object = ObstacleVRU(corner, LDMObject.perception.o3d_bbx)
+                object.carla_id = LDMObject.id
+                object.itsType = 'pedestrian'
+                retObjectsVRU.append(object)
+            elif LDMObject.perception.itsType == 'bicycle':
+                object = ObstacleVRU(corner, LDMObject.perception.o3d_bbx)
+                object.carla_id = LDMObject.id
+                object.itsType = 'bicycle'
+                retObjectsVRU.append(object)
+            elif LDMObject.perception.itsType == 'motorcycle':
+                object = ObstacleVRU(corner, LDMObject.perception.o3d_bbx)
+                object.carla_id = LDMObject.id
+                object.itsType = 'motorcycle'
+                retObjectsVRU.append(object)
+        return {'vehicles': retObjects, 'traffic_lights': trafficLights, 'VRU': retObjectsVRU}
+
+    def log_kalman_data(self, data_entry, log_directory="kalman_logs"):
+        """
+        Logs Kalman filter data (measurement, ground truth, KF update) to a CSV file.
+
+        Each object ID gets its own CSV file named "kalman_filter_<ID>.csv".
+        The function appends data to existing files or creates new ones.
+
+        Args:
+            data_entry (dict): A dictionary containing data for a single object at a single timestamp.
+                               Expected keys: 'ID', 'Measurement_x', 'Measurement_y',
+                               'GT_x', 'GT_y', 'KFupdate_x', 'KFupdate_y'.
+            log_directory (str): The directory where log files will be saved.
+                                 Defaults to "kalman_logs".
+        """
+        # Ensure the log directory exists
+        if not os.path.exists(log_directory):
+            os.makedirs(log_directory)
+
+        obj_id = data_entry['ID']
+        file_name = os.path.join(log_directory, f"kalman_filter_{obj_id}.csv")
+
+        # Create a DataFrame for the current data entry
+        # Using a list of dicts for single row to ensure correct DataFrame structure
+        df = pd.DataFrame([{
+            'timestamp': data_entry['Timestamp'],
+            'measurement_x': data_entry['Measurement_x'],
+            'measurement_y': data_entry['Measurement_y'],
+            'gt_x': data_entry['GT_x'],
+            'gt_y': data_entry['GT_y'],
+            'kfupdate_x': data_entry['KFupdate_x'],
+            'kfupdate_y': data_entry['KFupdate_y']
+        }])
+
+        # Check if the file exists to decide whether to write headers
+        write_header = not os.path.exists(file_name)
+
+        # Append the data to the CSV file
+        df.to_csv(file_name, mode='a', header=write_header, index=False)
+
+    def log_kalman_prediction(self, data_entry, log_directory="kalman_prediction"):
+        log_directory = f"kalman_prediction_{self.cav.vehicle.id}"
+        if not os.path.exists(log_directory):
+            os.makedirs(log_directory)
+
+        self.cav.vehicle.id
+        obj_id = data_entry['ID']
+        file_name = os.path.join(log_directory, f"kalman_pred_{obj_id}.csv")
+
+        # Create a DataFrame for the current data entry
+        # Using a list of dicts for single row to ensure correct DataFrame structure
+        df = pd.DataFrame([{
+            'timestamp': data_entry['Timestamp'],
+            'prediction_x': data_entry['Prediction_x'],
+            'prediction_y': data_entry['Prediction_y'],
+        }])
+
+        # Check if the file exists to decide whether to write headers
+        write_header = not os.path.exists(file_name)
+
+        # Append the data to the CSV file
+        df.to_csv(file_name, mode='a', header=write_header, index=False)
 
-        return {'vehicles': retObjects, 'traffic_lights': trafficLights}
diff --git a/opencda/customize/v2x/LDMutils.py b/opencda/customize/v2x/LDMutils.py
index 4a396e6a6..f1b2a6106 100644
--- a/opencda/customize/v2x/LDMutils.py
+++ b/opencda/customize/v2x/LDMutils.py
@@ -1,6 +1,6 @@
 import threading
 
-from opencda.core.common.vehicle_manager import VehicleManager
+# from opencda.core.common.vehicle_manager import VehicleManager
 from collections import deque
 import math
 import numpy as np
@@ -18,6 +18,78 @@
 from opencda.customize.v2x.aux import PLDMentry
 from opencda.customize.v2x.aux import Perception
 
+class pedestrian_kalman_filter:
+    def __init__(self, initial_timestamp=None, measurement_noise_std=0.5, process_noise_strength=0.5):
+        self.kf = KalmanFilter(dim_x=4, dim_z=2)
+        self.dt = 0.05
+        self.last_update = 0
+        self.last_predict = 0
+        self.kf.H = np.array([[1, 0, 0, 0],
+                              [0, 0, 1, 0]])
+        self.measurement_noise_std = measurement_noise_std
+        self.kf.R = np.diag([self.measurement_noise_std**2, self.measurement_noise_std**2])
+        self.process_noise_strength = process_noise_strength
+        self.update_F_Q_matrices(self.dt) #initialize F and Q matrices
+        self.last_timestamp = initial_timestamp
+        self.is_initialized = False
+
+
+    def update_F_Q_matrices(self, dt):
+        self.kf.F = np.array([[1, dt, 0, 0],
+                              [0, 1, 0, 0],
+                              [0, 0, 1, dt],
+                              [0, 0, 0, 1]])
+        dt2 = dt ** 2
+        dt3 = dt ** 3
+        dt4 = dt ** 4
+
+        self.kf.Q = self.process_noise_strength * np.array([
+            [dt4 / 4, dt3 / 2, 0, 0],
+            [dt3 / 2, dt2, 0, 0],
+            [0, 0, dt4 / 4, dt3 / 2],
+            [0, 0, dt3 / 2, dt2]
+        ])
+    def init_step(self, now, x, y, vx=0, vy=0):
+        # self.kf.P *= 1e-2
+        self.kf.P = np.diag([
+            self.measurement_noise_std**2, # Position x uncertainty (from sensor)
+            2.0**2,                      # Velocity x uncertainty (e.g., 10 m/s initial uncertainty)
+            self.measurement_noise_std**2, # Position y uncertainty
+            2.0**2                       # Velocity y uncertainty
+        ])
+        # Initial state [x, vx, y, vy]
+        self.kf.x = np.array([[x], [vx], [y], [vy]])
+        self.last_timestamp = now
+        self.is_initialized = True
+
+
+
+    def predict(self, now=None):
+        # predict when no vam is received
+        if not self.is_initialized:
+            raise RuntimeError("Filter must be initialized with an update before prediction.")
+        if now is None:
+            raise ValueError("current_timestamp cannot be None for prediction.")
+        if now is not None:
+            dt_actual = (now - self.last_timestamp)/1000
+            if dt_actual > 0:
+                self.update_F_Q_matrices(dt_actual)  # Update F and Q based on actual dt
+                self.kf.predict()  # Perform the prediction using the internal KalmanFilter
+                self.last_timestamp = now  # Update the last known timestamp
+
+        return self.kf.x[0, 0], self.kf.x[2, 0], self.kf.x[1, 0], self.kf.x[3, 0]
+
+    def update(self, measurement_x, measurement_y, now):
+
+        self.predict(now)
+
+        # Form the measurement vector
+        z = np.array([[measurement_x], [measurement_y]])
+        self.kf.update(z)  # Perform the update using the internal KalmanFilter
+
+        self.last_timestamp = now  # Ensure timestamp is accurate after update
+
+        return self.kf.x[0, 0], self.kf.x[2, 0], self.kf.x[1, 0], self.kf.x[3, 0]
 
 class speed_kalman_filter:
     def __init__(self):
@@ -48,7 +120,7 @@ def step(self, x, y):
 
 
 class PO_kalman_filter:
-    def __init__(self, dt=0.05):
+    def __init__(self, dt=0.05, Q_noise_std_dev=None, R_std_dev=None, ):
         self.kf = KalmanFilter(dim_x=6, dim_z=2)
         self.dt = dt  # time step
         self.last_predict = 0
@@ -63,10 +135,20 @@ def __init__(self, dt=0.05):
         self.kf.H = np.array([[1, 0, 0, 0, 0, 0],
                               [0, 1, 0, 0, 0, 0]])
         # todo: refine this values
-        self.kf.R = np.array([[10, 0],
-                              [0, 10]])
-        noise_ax = 1
-        noise_ay = 1
+        if R_std_dev is None:
+            self.kf.R = np.array([[10, 0],
+                                  [0, 10]])
+        else:
+            self.kf.R = np.array([[R_std_dev ** 2, 0],
+                                  [0, R_std_dev ** 2]])
+
+        if Q_noise_std_dev is None:
+            noise_ax = 1
+            noise_ay = 1
+        else:
+            noise_ax = Q_noise_std_dev
+            noise_ay = Q_noise_std_dev
+
         self.kf.Q = np.array(
             [[self.dt ** 4 / 4 * noise_ax, 0, self.dt ** 3 / 2 * noise_ax, 0, self.dt ** 2 * noise_ax, 0],
              [0, self.dt ** 4 / 4 * noise_ay, 0, self.dt ** 3 / 2 * noise_ay, 0, self.dt ** 2 * noise_ay],
diff --git a/opencda/customize/v2x/PCservice.py b/opencda/customize/v2x/PCservice.py
new file mode 100644
index 000000000..461c6fd4d
--- /dev/null
+++ b/opencda/customize/v2x/PCservice.py
@@ -0,0 +1,374 @@
+import carla
+import math
+import numpy as np
+import weakref
+from threading import Thread
+from threading import Event
+
+from opencda.customize.platooning.states import FSM
+from collections import deque
+
+
+class PCservice(object):
+    def __init__(
+            self,
+            cav,
+            V2Xagent):
+        self.cav = cav
+        self.V2Xagent = V2Xagent
+        self.pcm_sent = 0
+        self.last_pcm = 0
+        self.isJoinable = False
+        self.joinableList = set()
+
+        # whether leader in a platoon
+        self.leader = False
+        self.PCMap = {}  # Map containing the last 10 PCM received from each PM
+        self.platooning_id = None
+        self.leader_id = None
+        self.platoon_position = None
+        self.status = FSM.SEARCHING
+
+        self.platoon_list = {}
+        self.maximum_capacity = 10
+
+        self.destination = None
+        self.center_loc = None
+
+        # this is used to control platooning speed during joining
+        self.leader_target_speed = 0
+        self.origin_leader_target_speed = 0
+        self.recover_speed_counter = 0
+
+        # the platoon in the black list won't be considered again
+        self.platooning_blacklist = []
+
+        # used to label the front and rear vehicle position
+        self.front_vehicle = None
+        self.front_front_vehicle = None
+        self.rear_vehicle = None
+        self.leader_vehicle = None
+
+        self.join_req_counter = 0
+        self.last_join_req = 0
+        self.requestTO = None
+
+        self.join_resp_counter = 0
+        self.last_join_resp = 0
+        self.responseTO = 0
+
+        self.last_tx_pcm = 0
+        self.last_rx_pcm = 0
+
+        self.leave_flag = False
+        self.leave_pcm_counter = 0
+
+        self.leave_counter = 0
+        self.last_leave_msg = 0
+
+    def getIsJoinable(self):
+        return self.isJoinable
+
+    def updateJoinableList(self, id):
+        self.joinableList.add(id)
+
+    def getPlatoonStatus(self):
+        return self.status
+
+    def checkJoinConditions(self):
+        """
+        Check conditions for joining a platoon.
+        For now this means to check if we are behind a joinable vehicle.
+        Returns
+        -------
+
+        """
+        # TODO: check which of the vehicles in front is closer
+        self.cav.ldm_mutex.acquire()
+        ldm = self.cav.get_context()
+        self.cav.ldm_mutex.release()
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        best_id = None
+        furthest = 0
+        for id in self.joinableList:
+            if id in ldm:
+                # Calculate vector from obj1 to obj2
+                diff = [ldm[id].xPosition - ego_pos.location.x, ldm[id].yPosition - ego_pos.location.y]
+                magnitude = math.sqrt(diff[0] ** 2 + diff[1] ** 2)
+                normalized = [diff[0] / magnitude, diff[1] / magnitude]
+                heading_vector = [math.cos(math.radians(ego_pos.rotation.yaw)),
+                                  math.sin(math.radians(ego_pos.rotation.yaw))]
+                # Calculate dot product
+                dot_product = normalized[0] * heading_vector[0] + normalized[1] * heading_vector[1]
+                if dot_product > 0:
+                    # ldm[id] is in front
+                    if magnitude > furthest:
+                        best_id = id
+                        furthest = magnitude
+
+        return best_id
+
+    def run_step(self):
+        if self.status == FSM.SEARCHING:
+            self.isJoinable = True
+            if self.joinableList:
+                # If CAMs with the isJoinable flag have been received, check if any of those vehicles are in front
+                id = self.checkJoinConditions()
+                if id:
+                    # If vehicle id is in front, trigger JOIN request
+                    self.requestTO = id
+                    self.status = FSM.JOIN_REQUEST
+                    self.join_req_counter = 0
+
+        if self.status == FSM.JOIN_REQUEST:
+            if (self.last_join_req + 100 <= self.cav.get_time_ms()) and (self.join_req_counter < 10):
+                self.sendPMM('JOIN_REQ')
+            elif self.join_req_counter == 10:
+                self.status = FSM.SEARCHING
+                self.requestTO = None
+
+        if self.status == FSM.JOIN_RESPONSE:
+            # self.leader = True
+            if (self.last_join_resp + 100 <= self.cav.get_time_ms()) and (self.join_resp_counter < 10):
+                self.sendPMM('JOIN_RESP')
+            if self.join_resp_counter >= 10:
+                if self.platoon_position == 1:
+                    self.status = FSM.LEADING_MODE
+                else:
+                    self.status = FSM.MAINTINING
+                self.isJoinable = False
+
+        if self.status == FSM.BACK_JOINING or self.status == FSM.JOINING_FINISHED:
+            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
+                self.sendPCM()
+
+        if self.status == FSM.MAINTINING or self.status == FSM.LEADING_MODE:  # ENSEMBLE'S PLATOON
+            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
+                self.sendPCM()
+            if self.get_lost_rx_pcm():
+                self.status = FSM.LEAVE
+            if self.platoon_list:
+                if self.platoon_position > max(self.platoon_list.keys()) and self.pcm_sent > 5:
+                    self.isJoinable = True
+
+        if self.status == FSM.LEAVE_REQUEST:
+            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
+                self.sendPCM(leave=True)
+            if self.leave_pcm_counter == 10:
+                self.status = FSM.LEAVE
+
+        if self.status == FSM.LEAVE:
+            if (self.last_leave_msg + 100 <= self.cav.get_time_ms()) and (self.leave_counter < 10):
+                self.sendPMM('LEAVE')
+            if self.leave_counter == 10:
+                self.status = FSM.SEARCHING
+
+    def get_lost_rx_pcm(self):
+        # print(self.PCMap.items())
+        for id, pm in self.PCMap.items():
+            if pm[(len(self.PCMap[id]) - 1)]['timestamp'] <= (
+                    (int(self.cav.get_time_ms()) % 65536) - 500):  # if older than 500ms
+                return False
+        return False
+
+    def sendPCM(self, leave=False):
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        trajectory = self.cav.agent.get_local_planner().get_trajectory()
+        trajectory_array = []
+        for point in trajectory:
+            trajectory_array.append({
+                "x": float(point[0].location.x),
+                "y": float(point[0].location.y),
+                "s": float(point[1])
+            })
+        referencePosition = {
+            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
+            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
+            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
+            # Aux fields until I find a way to convert geodesic to cartesian within CARLA
+            'carlaX': float(ego_pos.location.x),
+            'carlaY': float(ego_pos.location.y)
+        }
+        longitudinalControlContainer = {
+            'grossCombinationVehicleWeight': False,
+            'currentLongitudinalAcceleration': int(self.cav.localizer.get_ego_acc() * 100 /3.6),
+            'predictedLongitudinalAcceleration': False,
+            'longitudinalSpeed': int(self.cav.localizer.get_ego_spd() * 100 / 3.6),
+            'powerToMassRatio': False,
+            'brakeCapacity': False,
+            'roadInclination': False,
+            'referenceSpeed': False,
+            'intruderAhead': False,
+            'vehicleAhead': False,
+        }
+        platoonControlContainer = {
+            'referencePosition': referencePosition,
+            'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
+            'timestamp': int(self.cav.get_time_ms()) % 65536,
+            'sequenceNumber': self.pcm_sent,
+            'platoonPosition': self.platoon_position,
+            'stationID': int(self.cav.vehicle.id),
+            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),
+            'longitudinalControl': longitudinalControlContainer,
+            'aboutToLeave': leave,
+        }
+        PCM = {
+            'type': 'PCM',
+            'stationID': int(self.cav.vehicle.id),
+            'timestamp': int(self.cav.get_time_ms()) % 65536,
+            'platoonControlContainer': platoonControlContainer,
+            'trajectory': trajectory_array
+        }
+        self.last_pcm = self.cav.get_time_ms()
+        # self.V2Xagent.AMQPhandler.platoonControl_sender(PCM)
+        self.V2Xagent.send_buffer.append(PCM)
+        self.V2Xagent.send_event.set()
+        self.pcm_sent += 1
+
+    def processPCM(self, pcm):
+        # if (self.status == FSM.LEADING_MODE) or (self.status == FSM.MAINTINING) or (
+        #         self.status == FSM.JOIN_REQUEST) or (self.status == FSM.BACK_JOINING):
+        if self.status != FSM.SEARCHING:
+            if pcm['stationID'] in self.PCMap:
+                self.PCMap[int(pcm['stationID'])].append(pcm)
+            else:
+                self.PCMap[int(pcm['stationID'])] = deque([pcm], maxlen=10)
+
+            self.platoon_list[pcm['platoonControlContainer']['platoonPosition']] = pcm['stationID']
+
+            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 1:
+                self.front_vehicle = pcm
+            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 2:
+                self.front_front_vehicle = pcm
+            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position + 1:
+                self.rear_vehicle = pcm
+            if pcm['platoonControlContainer']['platoonPosition'] == 1:
+                self.leader_vehicle = pcm
+        return True
+
+    def sendPMM(self, type):
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        referencePosition = {
+            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
+            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
+            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
+            # Aux fields until I find a way to convert geodesic to cartesian within CARLA
+            'carlaX': float(ego_pos.location.x),
+            'carlaY': float(ego_pos.location.y)
+        }
+        message = None
+        if type == 'JOIN_REQ':
+            message = self.sendJOINreq()
+        if type == 'JOIN_RESP':
+            message = self.sendJOINresp()
+        if type == 'LEAVE':
+            message = self.sendLEAVEmsg()
+
+        PMM = {'type': 'PMM',
+               'stationID': int(self.cav.vehicle.id),
+               'timestamp': int(self.cav.get_time_ms()) % 65536,
+               'referencePosition': referencePosition,
+               'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
+               'messageType': type,
+               'message': message
+               }
+        # self.V2Xagent.AMQPhandler.platoonControl_sender(PMM)
+        self.V2Xagent.send_buffer.append(PMM)
+        self.V2Xagent.send_event.set()
+
+    def sendJOINreq(self):
+
+        joinRequest = {
+            'receiver': self.requestTO,
+            'brakeCapacity': False,  # Unavailable
+            'powerToMassRatio': False,  # Unavailable
+            'platooningLevel': int(0),  # longitudinalOnly
+            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20)
+        }
+
+        self.join_req_counter += 1
+        self.last_join_req = self.cav.get_time_ms()
+        return joinRequest
+
+    def sendJOINresp(self):
+        joinResponseStatus = {
+            'symmetricKey': False,
+            'frequencyChannel': False,
+            'platoonId': int(0),  # TODO: find a criteria to generate platoon id
+            'maxNofVehiclesInPlatoon': int(self.maximum_capacity),
+            'joiningPosition': int(self.platoon_position + 1)
+        }
+        joinResponse = {
+            'respondingTo': self.responseTO,
+            'joinResponseStatus': joinResponseStatus
+        }
+
+        self.join_resp_counter += 1
+        self.last_join_resp = self.cav.get_time_ms()
+        return joinResponse
+
+    def sendLEAVEmsg(self):
+        leaveRequest = {
+            'vehicleId': int(self.cav.vehicle.id),
+            'platoonPosition': int(self.platoon_position),
+            'reason': 'unavailable'
+        }
+        self.leave_counter += 1
+        return leaveRequest
+
+    def processPMM(self, pmm):
+        if pmm['messageType'] == 'JOIN_REQ':
+            self.processJOINreq(pmm)
+        if pmm['messageType'] == 'JOIN_RESP':
+            self.processJOINresp(pmm)
+        if pmm['messageType'] == 'LEAVE':
+            self.processLEAVE(pmm)
+        return True
+
+    def processJOINreq(self, pmm):
+        join_req = pmm['message']
+        if join_req['receiver'] == int(self.cav.vehicle.id):
+            if self.status == FSM.SEARCHING or self.status == FSM.LEADING_MODE:
+                self.leader = True
+                self.platoon_list[1] = (int(self.cav.vehicle.id))
+                self.platoon_list[2] = (int(pmm['stationID']))
+                self.platoon_position = 1
+                self.responseTO = pmm['stationID']
+                self.status = FSM.JOIN_RESPONSE
+                self.sendPMM('JOIN_RESP')
+            # TODO: consider the case where a JOIN_REQ is received while performing a JOIN
+            # e.g. for the case where 2 vehicles want to join, for now we do first req first served
+            elif self.status == FSM.MAINTINING:
+                self.platoon_list[self.platoon_position+1] = (int(pmm['stationID']))
+                self.responseTO = pmm['stationID']
+                self.status = FSM.JOIN_RESPONSE
+                self.sendPMM('JOIN_RESP')
+        return True
+
+    def processJOINresp(self, pmm):
+        join_resp = pmm['message']
+        status = join_resp['joinResponseStatus']
+        if join_resp['respondingTo'] == int(self.cav.vehicle.id):
+            if self.status == FSM.JOIN_REQUEST:
+                self.status = FSM.BACK_JOINING  # To start the JOINING
+                self.platoon_position = status['joiningPosition']
+                if status['joiningPosition'] == 'maxNofVehiclesInPlatoon':
+                    self.isJoinable = False
+                self.platoon_list[status['joiningPosition']-1] = (int(pmm['stationID']))
+        return True
+
+    def processLEAVE(self, pmm):
+        if self.status == FSM.MAINTINING:
+            # If someone in front of the receiving vehicle wants to leave, ego vehicle leaves too
+            if self.PCMap[pmm['message']['platoonPosition']] < self.platoon_position:
+                self.status = FSM.LEAVE
+        if self.status == FSM.LEADING_MODE:
+            if self.PCMap[pmm['message']['platoonPosition']] == 2:
+                self.status = FSM.LEAVE
+            else:
+                if pmm['stationID'] in self.PCMap:
+                    del self.PCMap[pmm['stationID']]
+                if pmm['stationID'] in self.platoon_list:
+                    self.platoon_list.remove(pmm['stationID'])
+
+        return True
diff --git a/opencda/customize/v2x/PLDMservice.py b/opencda/customize/v2x/PLDMservice.py
new file mode 100644
index 000000000..b3993afdf
--- /dev/null
+++ b/opencda/customize/v2x/PLDMservice.py
@@ -0,0 +1,965 @@
+from opencda.customize.v2x.aux import PLDMentry
+from opencda.customize.v2x.aux import Perception
+from opencda.customize.v2x.PLDM import PLDM
+from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
+import math
+import carla
+import psutil
+import numpy as np
+from opencda.customize.v2x.LDMutils import compute_IoU
+from opencda.customize.v2x.LDMutils import PO_kalman_filter
+from opencda.customize.v2x.LDMutils import get_o3d_bbx
+from scipy.optimize import linear_sum_assignment as linear_assignment
+from opencda.customize.v2x.aux import newPLDMentry
+import time
+import numpy as np
+import random
+import copy
+
+
+def cpu_cost_single(P, alpha, gamma, n, m):
+    return (alpha[n] + gamma[n] * np.sum(P, axis=0)[m]) / 100
+
+
+def distance_cost_single(D, i, j):
+    Dt = 0
+    while Dt < 1:
+        Dt = D[i, j] + random.randint(-10, 10)
+    if Dt > 100:
+        Dt = 100
+    return Dt / 100
+
+
+def cost_single(P, D, alpha, gamma, i, j, weights):
+    return weights[0] * cpu_cost_single(P, alpha, gamma, i, j) + \
+        weights[1] * distance_cost_single(D, i, j)
+
+
+def get_value_by_index(A, target_index):
+    for item in A:
+        if item[0] == target_index:
+            return item[1]
+    return None  # Return None if the index is not found
+
+
+def get_cpu_by_index(A, target_index):
+    for item in A:
+        if item[0] == target_index:
+            return item[2]
+    return None  # Return None if the index is not found
+
+
+class PLDMservice(object):
+    def __init__(
+            self,
+            cav,
+            V2Xagent):
+        self.cav = cav
+        self.V2Xagent = V2Xagent
+        self.leader = False
+        self.leaderSeqNum = 0
+        self.recvSeqNum = 0
+        self.recv_plu = 0
+        self.recv_plu_ids = []
+        self.recv_pmu = {}
+        self.last_plu = 0
+        self.last_pmu = 0
+        self.last_assigment = 0
+        self.PMs = []
+        self.pldm = PLDM(self.cav, self.V2Xagent, visualize=self.cav.lidar_visualize)
+        self.cav.PLDM = self.pldm
+        self.assignment_weights = [0.5, 0.5]
+
+    def setLeader(self, leader):
+        self.leader = leader
+        self.pldm.leader = leader
+
+    def runStep(self):
+        if self.leader and self.cav.get_time_ms() - self.last_plu > 100:
+            # if len(set(self.recv_pmu.values())) <= 1:
+            # Only send PLU if we have received a PMU from all PMs
+            self.generatePLU()
+            self.leaderSeqNum += 1
+        if self.leader and self.cav.get_time_ms() - self.last_assigment > 2000:
+            self.assignPOs()
+            self.last_assigment = self.cav.get_time_ms()
+
+    def assignPOs(self):
+        self.optDwell()
+        self.balance_resp_pos()
+
+        # self.opt_assginment()
+
+        # For debugging
+        resp = self.get_all_PM_resp_state()
+        print('PM resp: ')
+        for PM, POs in resp:
+            print('PM ', PM, ' POs ', [PO.id for PO in POs if PO.tracked])
+
+    def get_perception_matrix(self, allPOs):
+        P = np.zeros((len(self.PMs), len(allPOs)), dtype=int)
+        for PO in allPOs:
+            for PM in PO.perceivedBy:
+                if PM in self.PMs:
+                    P[self.PMs.index(PM), allPOs.index(PO)] = 1
+        return P
+
+    def get_distance_matrix(self, allPOs):
+        D = np.zeros((len(self.PMs), len(allPOs)), dtype=float)
+        for PO in allPOs:
+            POpredX = PO.perception.xPosition + PO.perception.xSpeed  # Predicted position in 1 second
+            POpredY = PO.perception.yPosition + PO.perception.ySpeed
+            # POpredbbx = self.cav.LDMobj_to_o3d_bbx(PO.perception)
+            assocPMs = PO.perceivedBy
+            for assocPM in assocPMs:
+                if assocPM in self.pldm.PLDM:
+                    PMpredX = self.pldm.PLDM[assocPM].perception.xPosition + self.pldm.PLDM[
+                        assocPM].perception.xSpeed  # Predicted position in 1 second
+                    PMpredY = self.pldm.PLDM[assocPM].perception.yPosition + self.pldm.PLDM[assocPM].perception.ySpeed
+                    # PMpredbbx = self.cav.LDMobj_to_o3d_bbx(self.pldm.PLDM[assocPM].perception)
+                    D[self.PMs.index(assocPM), allPOs.index(PO)] = math.sqrt(
+                        math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
+        return D
+
+    def cpu_cost_all(self, P, alpha, gamma):
+        N, M = P.shape
+        C = np.zeros((N, M))
+        for n in range(N):
+            for m in range(M):
+                C[n][m] = (alpha[n] + gamma[n] * np.sum(P, axis=0)[m]) * P[n, m]
+        return C
+
+    def assignX(self, X, allPOs):
+        for i in range(len(X)):
+            for j in range(len(X[i])):
+                if X[i][j] == 1:
+                    self.pldm.PLDM[allPOs[j].id].assignedPM = self.PMs[i]
+
+    def opt_assginment(self):
+        allPOs = self.getAllPOs()
+        P = self.get_perception_matrix(allPOs)
+        D = self.get_distance_matrix(allPOs)
+        alpha = np.ones(len(self.PMs))
+        gamma = np.ones(len(self.PMs))
+        N, M = P.shape
+        card = (np.sum(P, axis=0))
+        R = []
+        i = 0
+        for r in card:
+            R.append([i, r])
+            i += 1
+        R = sorted(R, key=lambda x: x[1])  # Sorted objects by number of candidates (by Redundancy)
+        C = self.cpu_cost_all(P, alpha, gamma)  # CPU cost matrix
+        CNs = np.zeros(N)  # Current cpu cost of each node
+        X = np.zeros((N, M), dtype=int)  # Empty assignment matrix
+        # For each obj in order of fewer candidates to more candidates
+        for obj in R:
+            m = obj[0]  # Index of the object
+            assignable = [n for n in range(N) if P[n, m] == 1]  # List of assignable nodes
+            single_costs = []
+            for n in assignable:
+                if CNs[n] + C[n][m] <= 200:  # Max cpu cost available constraint
+                    single_costs.append([n, cost_single(P, D, alpha, gamma, n, m, self.assignment_weights),
+                                         C[n][m]])
+            # Sort the nodes
+            single_costs = sorted(single_costs, key=lambda x: x[1])
+            if len(single_costs) == 0:
+                return None, C
+            # If there's no other object assigned to the node, assign it
+            if np.sum(X, axis=1)[single_costs[0][0]] == 0:
+                X[single_costs[0][0], m] = 1
+                CNs[single_costs[0][0]] += single_costs[0][2]
+            else:
+                # Else check fairness cost
+                fairness_costs = []
+                for n in single_costs:
+                    Cavg = 0
+                    for i in range(N):
+                        if i != n[0]:
+                            Cavg += CNs[i]
+                    Cavg = Cavg / (N - 1)
+                    fairness_costs.append([n[0], abs((CNs[n[0]] + n[2]) - Cavg)])
+                fairness_costs = sorted(fairness_costs, key=lambda x: x[1])
+                # If the fairness cost is lower, assign it
+                if get_value_by_index(single_costs, fairness_costs[0][0]) - single_costs[0][1] > \
+                        get_value_by_index(fairness_costs, single_costs[0][0]) - fairness_costs[0][1] and \
+                        CNs[single_costs[0][0]] + single_costs[0][2] <= 1:
+                    X[single_costs[0][0], m] = 1
+                    CNs[single_costs[0][0]] += single_costs[0][2]
+                else:
+                    # Else assign the one with the lowest CPU cost
+                    X[fairness_costs[0][0], m] = 1
+                    CNs[fairness_costs[0][0]] += get_cpu_by_index(single_costs, fairness_costs[0][0])
+
+        self.assignX(X, allPOs)
+
+    def getAssignedPOs(self):
+        POs = []
+        for ID, PLDMobj in self.pldm.PLDM.items():
+            if PLDMobj.detected and PLDMobj.assignedPM == self.cav.vehicle.id:
+                POs.append(PLDMobj)
+        return POs
+
+    def getAllPOs(self):
+        POs = []
+        for ID, PLDMobj in self.pldm.PLDM.items():
+            if PLDMobj.detected:
+                POs.append(PLDMobj)
+        return POs
+
+    def optDwell(self):
+        allPOs = self.getAllPOs()
+        for PO in allPOs:
+            POpredX = PO.perception.xPosition + PO.perception.xSpeed  # Predicted position in 1 second
+            POpredY = PO.perception.yPosition + PO.perception.ySpeed
+            # POpredbbx = self.cav.LDMobj_to_o3d_bbx(PO.perception)
+            assocPMs = PO.perceivedBy
+            dists = {}
+            for assocPM in assocPMs:
+                if assocPM in self.pldm.PLDM:
+                    PMpredX = self.pldm.PLDM[assocPM].perception.xPosition + self.pldm.PLDM[
+                        assocPM].perception.xSpeed  # Predicted position in 1 second
+                    PMpredY = self.pldm.PLDM[assocPM].perception.yPosition + self.pldm.PLDM[assocPM].perception.ySpeed
+                    # PMpredbbx = self.cav.LDMobj_to_o3d_bbx(self.pldm.PLDM[assocPM].perception)
+                    dists[assocPM] = math.sqrt(math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
+
+            if PO.assignedPM == self.cav.vehicle.id:
+                ego_pos, ego_spd, objects = self.cav.getInfo()
+                PMpredX = ego_pos.location.x + ego_spd * math.cos(
+                    math.radians(ego_pos.rotation.yaw))  # Predicted position in 1 second
+                PMpredY = ego_pos.location.y + ego_spd * math.sin(math.radians(ego_pos.rotation.yaw))
+                dists[self.cav.vehicle.id] = math.sqrt(
+                    math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
+
+            if dists:
+                closest_PM = min(dists, key=dists.get)
+                if closest_PM != PO.assignedPM:
+                    # Update PO entry in pLDM
+                    PO.assignedPM = closest_PM
+
+    def get_all_PM_resp_state(self):
+        pm_resps = {}
+        pm_resps[self.cav.vehicle.id] = []
+        for PM in self.PMs:
+            pm_resps[PM] = []
+
+        for ID, PO in self.pldm.PLDM.items():
+            if PO.detected:
+                pm_resps[PO.assignedPM].append(PO)
+
+        sorted_items = sorted(pm_resps.items(), key=lambda item: len(item[1]), reverse=True)
+
+        pm_resps_ordered = [(key, value) for key, value in sorted_items]
+
+        return pm_resps_ordered
+
+    def balance_resp_pos(self):
+        pm_resps = self.get_all_PM_resp_state()
+
+        for PM_most, assignedPOs_most in pm_resps:
+            if len(assignedPOs_most) < 2:
+                return
+
+            for PM_least, assignedPOs_least in reversed(pm_resps):
+                if len(assignedPOs_most) - len(assignedPOs_least) < 2:
+                    return
+
+                for PO in assignedPOs_most:
+                    if PM_least in PO.perceivedBy:
+                        PO.assignedPM = PM_least
+                        break
+
+        pm_resps = self.get_all_PM_resp_state()
+        return pm_resps
+
+    def generatePLU(self):
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        PLDM = self.pldm.PLDM
+
+        ego_spd = ego_spd / 3.6  # km/h to m/s
+
+        POs = []
+        PMs = []
+        CVs = []
+
+        for carlaID, LDMobj in PLDM.items():
+            if LDMobj.detected is False:
+                if LDMobj.PM:
+                    PMs.append(LDMobj.id)
+                else:
+                    CVs.append(LDMobj.id)
+                continue
+            if LDMobj.getLatestPoint().timestamp < self.cav.time - 1.0 or not LDMobj.tracked:
+                continue
+
+            dx = (LDMobj.perception.xPosition - ego_pos.location.x)
+            dy = (LDMobj.perception.yPosition - ego_pos.location.y)
+            dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
+
+            geoPos = self.cav.carla_map.transform_to_geolocation(carla.Location(
+                x=LDMobj.perception.xPosition, y=LDMobj.perception.yPosition, z=0))
+
+            referencePosition = {
+                'altitude': geoPos.altitude,
+                'longitude': int(geoPos.longitude * 10000000),  # 0,1 microdegrees
+                'latitude': int(geoPos.latitude * 10000000),  # 0,1 microdegrees
+                'carlaX': LDMobj.perception.xPosition,
+                'carlaY': LDMobj.perception.yPosition
+            }
+            # speed = math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2))
+
+            POs.append({'ObjectID': int(LDMobj.id),
+                        'Heading': LDMobj.perception.heading * 10,  # In degrees/10
+                        'Yaw': LDMobj.perception.yaw * 10,  # In degrees/10
+                        'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
+                        'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
+                        'xAcceleration': int(LDMobj.perception.xacc * 100),
+                        'yAcceleration': int(LDMobj.perception.yacc * 100),
+                        'vehicleWidth': LDMobj.perception.width * 10,  # In meters/10
+                        'vehicleLength': LDMobj.perception.length * 10,  # In meters/10
+                        'referencePosition': referencePosition,
+                        'confidence': (100 - dist) if dist < 100 else 0,
+                        'assocPMs': LDMobj.perceivedBy,
+                        'assignedPM': LDMobj.assignedPM,
+                        'timestamp': LDMobj.getLatestPoint().timestamp * 1000})
+
+        referencePosition = {
+            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
+            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),  # 0,1 microdegrees
+            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),  # 0,1 microdegrees
+        }
+
+        stationData = {
+            'heading': int(ego_pos.rotation.yaw * 10),  # In degrees/10
+            'speed': int(ego_spd * 100),  # Centimeters per second
+            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),  # Centimeters
+            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20),  # Centimeters
+            'referencePosition': referencePosition
+        }
+
+        PLU = {'type': 'PLU',
+               'stationID': self.cav.vehicle.id,
+               'timestamp': self.cav.time * 1000,
+               'perceivedObjects': POs,
+               'stationData': stationData,
+               'PMs': PMs,
+               'CVs': CVs,
+               'seqNum': self.leaderSeqNum}
+
+        print('Vehicle ', self.cav.vehicle.id, ':')
+        print('POs')
+        for PO in POs:
+            print(PO)
+        self.last_plu = self.cav.time * 1000
+        # self.V2Xagent.AMQPhandler.platoonControl_sender(PLU)
+        self.V2Xagent.send_buffer.append(PLU)
+        self.V2Xagent.send_event.set()
+        # print('PLU sent by ', self.cav.vehicle.id, ', tst ', PLU['timestamp'], ', seqNum ', self.leaderSeqNum)
+
+    def generatePMU(self):
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        PLDM = self.pldm.PLDM
+
+        ego_spd = ego_spd / 3.6  # km/h to m/s
+
+        assignedPOs = []
+        newPOs = []
+        perceivedPOs = []
+
+        for carlaID, LDMobj in PLDM.items():
+            if not LDMobj.detected or not LDMobj.tracked:
+                continue
+
+            if LDMobj.onSight:
+                perceivedPOs.append(LDMobj.id)
+            if LDMobj.assignedPM == self.cav.vehicle.id or LDMobj.newPO:
+                dx = (LDMobj.perception.xPosition - ego_pos.location.x)
+                dy = (LDMobj.perception.yPosition - ego_pos.location.y)
+                dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
+
+                geoPos = self.cav.carla_map.transform_to_geolocation(carla.Location(
+                    x=LDMobj.perception.xPosition, y=LDMobj.perception.yPosition, z=0))
+
+                referencePosition = {
+                    'altitude': geoPos.altitude,
+                    'longitude': int(geoPos.longitude * 10000000),  # 0,1 microdegrees
+                    'latitude': int(geoPos.latitude * 10000000),  # 0,1 microdegrees
+                    'carlaX': LDMobj.perception.xPosition,
+                    'carlaY': LDMobj.perception.yPosition
+                }
+                # speed = math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2))
+
+                PO = {'ObjectID': int(LDMobj.id),
+                      'Heading': LDMobj.perception.heading * 10,  # In degrees/10
+                      'Yaw': LDMobj.perception.yaw * 10,  # In degrees/10
+                      'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
+                      'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
+                      'xAcceleration': int(LDMobj.perception.xacc * 100),
+                      'yAcceleration': int(LDMobj.perception.yacc * 100),
+                      'vehicleWidth': LDMobj.perception.width * 10,  # In meters/10
+                      'vehicleLength': LDMobj.perception.length * 10,  # In meters/10
+                      'referencePosition': referencePosition,
+                      'confidence': (100 - dist) if dist < 100 else 0,
+                      'assocPMs': LDMobj.perceivedBy,
+                      'assignedPM': LDMobj.assignedPM,
+                      'timestamp': LDMobj.getLatestPoint().timestamp * 1000}
+
+                if LDMobj.newPO:
+                    newPOs.append(PO)
+                else:
+                    assignedPOs.append(PO)
+
+        PMstate = {'cpuLoad': psutil.cpu_percent(interval=0.1),
+                   'perceivedPOs': perceivedPOs,
+                   'numberOfAssignedPOs': len(assignedPOs)}
+
+        PMU = {'type': 'PMU',
+               'stationID': self.cav.vehicle.id,
+               'timestamp': self.cav.get_time_ms(),
+               'assignedPOs': assignedPOs,
+               'newPOs': newPOs,
+               'PMstate': PMstate,
+               'seqNum': self.recvSeqNum}
+
+        print('Vehicle ', self.cav.vehicle.id, ':')
+        if assignedPOs:
+            print('Assigned POs')
+        for PO in assignedPOs:
+            print(PO)
+        if newPOs:
+            print('New POs')
+        for PO in newPOs:
+            print(PO)
+        print(PMstate)
+
+        self.last_pmu = self.cav.time * 1000
+        # self.V2Xagent.AMQPhandler.platoonControl_sender(PMU)
+        self.V2Xagent.send_buffer.append(PMU)
+        self.V2Xagent.send_event.set()
+        # print('PMU sent by ', self.cav.vehicle.id, ', tst ', PMU['timestamp'], ', seqNum ', self.recvSeqNum)
+
+    def processPLU(self, PLU):
+        if self.leader:
+            return
+        self.recv_plu += 1
+        self.recvSeqNum = PLU['seqNum']
+        # print('PLU received by ', self.cav.vehicle.id, ', tst ', PLU['timestamp'], ', seqNum ', PLU['seqNum'],
+        #       ',time ', self.cav.get_time_ms())
+        t_update = 0
+        t_new = 0
+        self.cav.pldm_mutex.acquire()
+        newPLUids = []
+        if 'perceivedObjects' in PLU:
+            for PLUobj in PLU['perceivedObjects']:
+                if PLUobj['ObjectID'] in self.recv_plu_ids:
+                    continue
+                else:
+                    self.recv_plu_ids.append(PLUobj['ObjectID'])
+                    newPLUids.append(PLUobj)
+            for PLUobj in newPLUids:
+                carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
+                                                          float(
+                                                              PLUobj['referencePosition']['longitude']) / 10000000,
+                                                          PLUobj['referencePosition']['altitude'],
+                                                          self.cav.localizer.geo_ref.latitude,
+                                                          self.cav.localizer.geo_ref.longitude, 0.0)
+                newPO = Perception(carlaX,
+                                   carlaY,
+                                   float(PLUobj['vehicleWidth']) / 10,
+                                   float(PLUobj['vehicleLength']) / 10,
+                                   float(PLUobj['timestamp']) / 1000,
+                                   PLUobj['confidence'])
+                newPO.heading = float(PLUobj['Heading']) / 10
+                newPO.yaw = float(PLUobj['Yaw']) / 10
+                IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO])
+                if IoU_map is not None:
+                    if IoU_map[matched[0], new[0]] >= 0:
+                        # If this object is already perceived by PM, delete old entry
+                        del self.pldm.PLDM[pldm_ids[matched[0]]]
+            for PLUobj in newPLUids:
+                if PLUobj['ObjectID'] in self.pldm.PLDM:
+                    newID = self.pldm.PLDM_ids.pop()
+                    self.pldm.PLDM[newID] = copy.deepcopy(self.pldm.PLDM[PLUobj['ObjectID']])
+                    self.pldm.PLDM[newID].id = newID
+                    self.pldm.PLDM[newID].newPO = True
+                    del self.pldm.PLDM[PLUobj['ObjectID']]
+
+        PLU_ids = []
+        if 'perceivedObjects' in PLU:
+            init_t = time.time_ns() / 1000
+            for PLUobj in PLU['perceivedObjects']:
+                PLU_ids.append(PLUobj['ObjectID'])
+                if PLUobj['ObjectID'] in self.pldm.PLDM:
+                    if self.pldm.PLDM[PLUobj['ObjectID']].newPO:
+                        # If it was a newPO but appears in PLU, now is not new
+                        self.pldm.PLDM[PLUobj['ObjectID']].newPO = False
+                    if PLUobj['assignedPM'] == self.cav.vehicle.id:
+                        # If this PM is assigned with this PO, update assignment
+                        self.pldm.PLDM[PLUobj['ObjectID']].assignedPM = self.cav.vehicle.id
+                        t_update += time.time_ns() / 1000 - init_t
+                        continue
+                    # If this PM is not assigned with this object, update entry
+                    carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
+                                                              float(
+                                                                  PLUobj['referencePosition']['longitude']) / 10000000,
+                                                              PLUobj['referencePosition']['altitude'],
+                                                              self.cav.localizer.geo_ref.latitude,
+                                                              self.cav.localizer.geo_ref.longitude, 0.0)
+                    newPO = Perception(carlaX,
+                                       carlaY,
+                                       float(PLUobj['vehicleWidth']) / 10,
+                                       float(PLUobj['vehicleLength']) / 10,
+                                       float(PLUobj['timestamp']) / 1000,
+                                       PLUobj['confidence'])
+                    newPO.heading = float(PLUobj['Heading']) / 10
+                    newPO.yaw = float(PLUobj['Yaw']) / 10
+                    newPO.xSpeed = float(PLUobj['xSpeed']) / 100
+                    newPO.ySpeed = float(PLUobj['ySpeed']) / 100
+                    newPO.xacc = float(PLUobj['xAcceleration']) / 100
+                    newPO.yacc = float(PLUobj['yAcceleration']) / 100
+                    newPO.o3d_bbx, newPO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, newPO.width, newPO.length,
+                                                                newPO.yaw)
+
+                    self.pldm.PLDM[PLUobj['ObjectID']].kalman_filter.predict(self.cav.get_time_ms())
+                    x, y, vx, vy, ax, ay = self.pldm.PLDM[PLUobj['ObjectID']].kalman_filter.update(newPO.xPosition,
+                                                                                                   newPO.yPosition,
+                                                                                                   self.cav.get_time_ms())
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xPosition = x
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.yPosition = y
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xSpeed = vx
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.ySpeed = vy
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xacc = ax
+                    self.pldm.PLDM[PLUobj['ObjectID']].perception.yacc = ay
+
+                    self.pldm.PLDM[PLUobj['ObjectID']].assignedPM = PLUobj['assignedPM']
+                    self.pldm.PLDM[PLUobj['ObjectID']].perceivedBy = PLUobj['assocPMs']
+                    self.pldm.PLDM[PLUobj['ObjectID']].detected = True
+                    self.pldm.PLDM[PLUobj['ObjectID']].PM = False
+                    self.pldm.PLDM[PLUobj['ObjectID']].tracked = True
+                    self.pldm.PLDM[PLUobj['ObjectID']].insertPerception(newPO)
+
+                else:
+                    # If not in local PLDM, create new entry
+                    carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
+                                                              float(
+                                                                  PLUobj['referencePosition']['longitude']) / 10000000,
+                                                              PLUobj['referencePosition']['altitude'],
+                                                              self.cav.localizer.geo_ref.latitude,
+                                                              self.cav.localizer.geo_ref.longitude, 0.0)
+
+                    PO = Perception(carlaX,
+                                    carlaY,
+                                    float(PLUobj['vehicleWidth']) / 10,
+                                    float(PLUobj['vehicleLength']) / 10,
+                                    float(PLUobj['timestamp']) / 1000,
+                                    PLUobj['confidence'])
+                    PO.heading = float(PLUobj['Heading']) / 10
+                    PO.yaw = float(PLUobj['Yaw']) / 10
+                    PO.xSpeed = float(PLUobj['xSpeed']) / 100
+                    PO.ySpeed = float(PLUobj['ySpeed']) / 100
+                    PO.xacc = float(PLUobj['xAcceleration']) / 100
+                    PO.yacc = float(PLUobj['yAcceleration']) / 100
+                    PO.o3d_bbx = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length)
+                    if PLUobj['ObjectID'] in self.pldm.PLDM_ids:
+                        self.pldm.PLDM_ids.remove(PLUobj['ObjectID'])  # To avoid using this ID for a newPO
+                    newPO = newPLDMentry(PO, PLUobj['ObjectID'], detected=True, onSight=False)
+                    newPO.assignedPM = PLUobj['assignedPM']
+                    newPO.perceivedBy = PLUobj['assocPMs']
+                    newPO.PM = False
+                    newPO.tracked = True
+                    newPO.kalman_filter = PO_kalman_filter()
+                    newPO.kalman_filter.init_step(PO.xPosition,
+                                                  PO.yPosition,
+                                                  PO.xSpeed,
+                                                  PO.ySpeed,
+                                                  PO.xacc,
+                                                  PO.yacc)
+                    # TODO: see if matching is actually necessary
+                    # Check if it doesn't match with a stored perception
+                    IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO.perception])
+                    if IoU_map is not None:
+                        if IoU_map[matched[0], new[0]] < 0:
+                            # If this is indeed a new object
+                            if PLUobj['ObjectID'] in self.pldm.PLDM_ids:
+                                self.pldm.PLDM_ids.remove(PLUobj['ObjectID'])  # To avoid using this ID for a newPO
+                        else:
+                            # If this object is already perceived by PM, delete old entry
+                            del self.pldm.PLDM[pldm_ids[matched[0]]]
+                            newPO.perceivedBy.append(self.cav.vehicle.id)
+
+                    self.pldm.PLDM[PLUobj['ObjectID']] = newPO
+                    # t_new += time.time_ns() / 1000 - init_t
+            t_update += time.time_ns() / 1000 - init_t
+
+        init_t = time.time_ns() / 1000
+        self.generatePMU()
+        t_genPMU = time.time_ns() / 1000 - init_t
+        self.cav.pldm_mutex.release()
+        # self.cav.pldm_mutex.acquire()
+        # extra_ids = []
+        # for ID, PLDMobj in self.pldm.PLDM.items():
+        #     if ID not in PLU_ids and (PLDMobj.detected and PLDMobj.newPO):
+        #         extra_ids.append(ID)
+        # for id in extra_ids:
+        #     del self.pldm.PLDM[id]
+        #     self.pldm.PLDM_ids.add(id)
+        # self.cav.pldm_mutex.release()
+
+        return t_update, t_new, t_genPMU
+
+    def processPMU(self, PMU):
+        if PMU['stationID'] not in self.PMs:
+            self.PMs.append(PMU['stationID'])
+        if PMU['stationID'] in self.pldm.PLDM:
+            self.pldm.PLDM[PMU['stationID']].PM = True
+        if not self.leader:
+            return
+        # print('PMU received by ', self.cav.vehicle.id, ', tst ', PMU['timestamp'], ', seqNum ', PMU['seqNum'],
+        #       ',time ', self.cav.get_time_ms())
+        if PMU['stationID'] not in self.recv_pmu:
+            self.recv_pmu[PMU['stationID']] = 1
+        else:
+            self.recv_pmu[PMU['stationID']] += 1
+        t_assigned = 0
+        t_new = 0
+        self.cav.pldm_mutex.acquire()
+        if 'assignedPOs' in PMU:
+            init_t = time.time_ns() / 1000
+            for PMUobj in PMU['assignedPOs']:
+                carlaX, carlaY, carlaZ = geo_to_transform(float(PMUobj['referencePosition']['latitude']) / 10000000,
+                                                          float(PMUobj['referencePosition']['longitude']) / 10000000,
+                                                          PMUobj['referencePosition']['altitude'],
+                                                          self.cav.localizer.geo_ref.latitude,
+                                                          self.cav.localizer.geo_ref.longitude, 0.0)
+                PO = Perception(carlaX,
+                                carlaY,
+                                float(PMUobj['vehicleWidth']) / 10,
+                                float(PMUobj['vehicleLength']) / 10,
+                                float(PMUobj['timestamp']) / 1000,
+                                PMUobj['confidence'])
+                PO.heading = float(PMUobj['Heading']) / 10
+                PO.yaw = float(PMUobj['Yaw']) / 10
+                PO.xSpeed = float(PMUobj['xSpeed']) / 100
+                PO.ySpeed = float(PMUobj['ySpeed']) / 100
+                PO.xacc = float(PMUobj['xAcceleration']) / 100
+                PO.yacc = float(PMUobj['yAcceleration']) / 100
+                PO.o3d_bbx, PO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length, PO.yaw)
+
+                if PMUobj['ObjectID'] in self.pldm.PLDM:
+                    self.pldm.PLDM[PMUobj['ObjectID']].kalman_filter.predict(self.cav.get_time_ms())
+                    x, y, vx, vy, ax, ay = self.pldm.PLDM[PMUobj['ObjectID']].kalman_filter.update(PO.xPosition,
+                                                                                                   PO.yPosition,
+                                                                                                   self.cav.get_time_ms())
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xPosition = x
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.yPosition = y
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xSpeed = vx
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.ySpeed = vy
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xacc = ax
+                    self.pldm.PLDM[PMUobj['ObjectID']].perception.yacc = ay
+                    self.pldm.PLDM[PMUobj['ObjectID']].assignedPM = PMUobj['assignedPM']
+                    self.pldm.PLDM[PMUobj['ObjectID']].perceivedBy = PMUobj['assocPMs']
+                    self.pldm.PLDM[PMUobj['ObjectID']].insertPerception(PO)
+                else:
+                    newPO = newPLDMentry(PO, PMUobj['ObjectID'], detected=True, onSight=False)
+                    newPO.assignedPM = PMUobj['assignedPM']
+                    newPO.perceivedBy = PMUobj['assocPMs']
+                    newPO.kalman_filter = PO_kalman_filter(0.1)
+                    newPO.kalman_filter.init_step(PO.xPosition,
+                                                  PO.yPosition,
+                                                  PO.xSpeed,
+                                                  PO.ySpeed,
+                                                  PO.xacc,
+                                                  PO.yacc)
+                    self.pldm.PLDM[PMUobj['ObjectID']] = newPO
+
+                # TODO: test if it works
+                if (PMU['timestamp'] - PMUobj['timestamp']) > 200:
+                    if self.pldm.PLDM[PMUobj['ObjectID']].onSight:
+                        self.pldm.PLDM[PMUobj['ObjectID']].assignedPM = self.cav.vehicle.id
+            t_assigned += time.time_ns() / 1000 - init_t
+        if 'newPOs' in PMU:
+            init_t = time.time_ns() / 1000
+            for PMUobj in PMU['newPOs']:
+                carlaX, carlaY, carlaZ = geo_to_transform(float(PMUobj['referencePosition']['latitude']) / 10000000,
+                                                          float(PMUobj['referencePosition']['longitude']) / 10000000,
+                                                          PMUobj['referencePosition']['altitude'],
+                                                          self.cav.localizer.geo_ref.latitude,
+                                                          self.cav.localizer.geo_ref.longitude, 0.0)
+
+                PO = Perception(carlaX,
+                                carlaY,
+                                float(PMUobj['vehicleWidth']) / 10,
+                                float(PMUobj['vehicleLength']) / 10,
+                                float(PMUobj['timestamp']) / 1000,
+                                PMUobj['confidence'])
+                PO.heading = float(PMUobj['Heading']) / 10
+                PO.yaw = float(PMUobj['Yaw']) / 10
+                PO.xSpeed = float(PMUobj['xSpeed']) / 100
+                PO.ySpeed = float(PMUobj['ySpeed']) / 100
+                PO.xacc = float(PMUobj['xAcceleration']) / 100
+                PO.yacc = float(PMUobj['yAcceleration']) / 100
+                PO.o3d_bbx, PO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length, PO.yaw)
+
+                newPO = newPLDMentry(PO, PMUobj['ObjectID'], detected=True, onSight=False)
+                newPO.tracked = True
+                newPO.perceivedBy = PMUobj['assocPMs']
+                # Check if it doesn't match with a stored perception
+                IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO.perception])
+                if IoU_map is not None:
+                    if IoU_map[matched[0], new[0]] < 0:
+                        # If this is indeed a new object, assign the object to this PM and create entry
+                        newPO.assignedPM = PMU['stationID']
+                        newPO.kalman_filter = PO_kalman_filter()
+                        newPO.kalman_filter.init_step(PO.xPosition,
+                                                      PO.yPosition,
+                                                      PO.xSpeed,
+                                                      PO.ySpeed,
+                                                      PO.xacc,
+                                                      PO.yacc)
+                        self.pldm.PLDM[PMUobj['ObjectID']] = newPO
+                    else:
+                        # If this object is already perceived by another PM, add new assoc PM
+                        self.pldm.PLDM[pldm_ids[matched[0]]].perceivedBy.append(PMU['stationID'])
+            t_new += time.time_ns() / 1000 - init_t
+        self.pldm.pmMap[PMU['stationID']] = PMU['PMstate']
+        self.cav.pldm_mutex.release()
+        return t_new, t_assigned
+
+    def processCPM(self, CPM):
+        referencePosition = CPM['referencePosition']
+        stationData = CPM['stationData']
+        newPOs = []
+        t_parse = 0
+        t_fusion = 0
+        # Compute the CARLA transform with the longitude and latitude values
+        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
+                                                  float(referencePosition['longitude']) / 10000000,
+                                                  referencePosition['altitude'],
+                                                  self.cav.localizer.geo_ref.latitude,
+                                                  self.cav.localizer.geo_ref.longitude, 0.0)
+        carlaTransform = carla.Transform(
+            carla.Location(
+                x=carlaX, y=carlaY, z=carlaZ),
+            carla.Rotation(
+                pitch=0, yaw=float(stationData['heading']) / 10, roll=0))
+        if 'perceivedObjects' in CPM:
+            init_t = time.time_ns() / 1000
+            for CPMobj in CPM['perceivedObjects']:
+                if CPMobj['ObjectID'] == self.cav.vehicle.id:
+                    continue
+                # Convert CPM relative values to absolute CARLA values to then match/fusion with LDMobjects
+                dist = math.sqrt(
+                    math.pow(CPMobj['xDistance'] / 100, 2) + math.pow(CPMobj['yDistance'] / 100, 2))
+                relAngle = math.atan2(CPMobj['yDistance'] / 100, CPMobj['xDistance'] / 100)
+                absAngle = relAngle + math.radians(carlaTransform.rotation.yaw)
+                xPos = dist * math.cos(absAngle) + carlaTransform.location.x
+                yPos = dist * math.sin(absAngle) + carlaTransform.location.y
+
+                dSpeed = math.sqrt(math.pow(CPMobj['xSpeed'] / 100, 2) + math.pow(CPMobj['ySpeed'] / 100, 2))
+                relAngle = math.atan2(CPMobj['ySpeed'] / 100, CPMobj['xSpeed'] / 100)
+                absAngle = relAngle + math.radians(
+                    carlaTransform.rotation.yaw)  # This absolute value is actually the heading of the object
+                xSpeed = dSpeed * math.cos(absAngle) + (stationData['speed'] / 100) * math.cos(
+                    math.radians(carlaTransform.rotation.yaw))
+                ySpeed = dSpeed * math.sin(absAngle) + (stationData['speed'] / 100) * math.sin(
+                    math.radians(carlaTransform.rotation.yaw))
+
+                # CPM object converted to LDM format
+                newPO = Perception(xPos,
+                                   yPos,
+                                   float(CPMobj['vehicleWidth']) / 10,
+                                   float(CPMobj['vehicleLength']) / 10,
+                                   float(CPMobj['timestamp']) / 1000,
+                                   float(CPMobj['confidence']),
+                                   ID=CPMobj['ObjectID'])
+                newPO.xSpeed = xSpeed
+                newPO.ySpeed = ySpeed
+                newPO.yaw = float(CPMobj['Yaw']) / 10
+                # print('[CPM] ' + str(newPO.id) + ' speed: ' + str(newPO.xSpeed) + ',' + str(newPO.ySpeed))
+                newPO.heading = math.degrees(absAngle)
+                newPOs.append(newPO)
+            t_parse += time.time_ns() / 1000 - init_t
+            init_t = time.time_ns() / 1000
+            self.cav.pldm_mutex.acquire()
+            self.CPMfusion(newPOs, CPM['stationID'])
+            self.cav.pldm_mutex.release()
+            t_fusion += time.time_ns() / 1000 - init_t
+
+        return t_parse, t_fusion
+
+    def CPMfusion(self, object_list, fromID):
+        if fromID in self.PMs:
+            for PO in object_list:
+                if PO.id in self.pldm.PLDM:
+                    # We only care about POs we are assigned with
+                    if self.pldm.PLDM[PO.id].assignedPM == self.cav.vehicle.id:
+                        # We don't need to match because ids are (supposed to be) in sync
+                        self.append_CPM_object(PO, PO.id, fromID)
+
+    def append_CPM_object(self, CPMobj, id, fromID):
+        if fromID not in self.pldm.PLDM[id].perceivedBy:
+            self.pldm.PLDM[id].perceivedBy.append(fromID)
+        if CPMobj.timestamp < self.pldm.PLDM[id].getLatestPoint().timestamp - 100:  # Consider objects up to 100ms old
+            return
+
+        newLDMobj = Perception(CPMobj.xPosition,
+                               CPMobj.yPosition,
+                               CPMobj.width,
+                               CPMobj.length,
+                               CPMobj.timestamp,
+                               CPMobj.confidence)
+        newLDMobj.yaw = CPMobj.yaw
+        # If the object is also perceived locally
+        if self.cav.vehicle.id in self.pldm.PLDM[id].perceivedBy:
+            # Compute weights depending on the POage and confidence (~distance from detecting vehicle)
+            LDMobj = self.pldm.PLDM[id].perception
+            LDMobj_age = LDMobj.timestamp - self.cav.time
+            CPMobj_age = CPMobj.timestamp - self.cav.time
+            if (LDMobj.confidence == 0 and CPMobj.confidence == 0) or \
+                    (LDMobj_age == 0 and CPMobj_age == 0):
+                weightCPM = 0.5
+                weightLDM = 0.5
+            else:
+                weightLDM = (LDMobj_age / (CPMobj_age + LDMobj_age)) * \
+                            (LDMobj.confidence / (LDMobj.confidence + CPMobj.confidence))
+                weightCPM = (CPMobj_age / (CPMobj_age + LDMobj_age)) * \
+                            (CPMobj.confidence / (LDMobj.confidence + CPMobj.confidence))
+                if (weightLDM + weightCPM) == 0:
+                    weightLDM = 0.5
+                    weightCPM = 0.5
+
+            newLDMobj.xPosition = (LDMobj.xPosition * weightCPM + CPMobj.xPosition * weightLDM) / (
+                    weightLDM + weightCPM)
+            newLDMobj.yPosition = (LDMobj.yPosition * weightCPM + CPMobj.yPosition * weightLDM) / (
+                    weightLDM + weightCPM)
+            newLDMobj.xSpeed = (CPMobj.xSpeed * weightCPM + LDMobj.xSpeed * weightLDM) / (weightLDM + weightCPM)
+            newLDMobj.ySpeed = (CPMobj.ySpeed * weightCPM + LDMobj.ySpeed * weightLDM) / (weightLDM + weightCPM)
+            newLDMobj.width = (CPMobj.width * weightCPM + LDMobj.width * weightLDM) / (weightLDM + weightCPM)
+            newLDMobj.length = (CPMobj.length * weightCPM + LDMobj.length * weightLDM) / (weightLDM + weightCPM)
+            newLDMobj.heading = (CPMobj.heading * weightCPM + LDMobj.heading * weightLDM) / (weightLDM + weightCPM)
+            # newLDMobj.confidence = (CPMobj.confidence + LDMobj.confidence) / 2
+            newLDMobj.timestamp = self.cav.time
+            self.pldm.PLDM[id].onSight = True
+        else:
+            self.pldm.PLDM[id].onSight = False
+
+        newLDMobj.o3d_bbx, newLDMobj.line_set = get_o3d_bbx(self.cav,
+                                                            newLDMobj.xPosition,
+                                                            newLDMobj.yPosition,
+                                                            newLDMobj.width,
+                                                            newLDMobj.length,
+                                                            newLDMobj.yaw
+                                                            )
+        # cav.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition, newLDMobj.width, newLDMobj.length)
+        self.pldm.PLDM[id].insertPerception(newLDMobj)
+
+    def match_PLDMObject(self, object_list):
+        if len(self.pldm.PLDM) != 0:
+            IoU_map = np.zeros((len(self.pldm.PLDM), len(object_list)), dtype=np.float32)
+            i = 0
+            ldm_ids = []
+            for ID, PLDMobj in self.pldm.PLDM.items():
+                for j in range(len(object_list)):
+                    obj = object_list[j]
+                    object_list[j].o3d_bbx = self.cav.LDMobj_to_o3d_bbx(obj)
+                    LDMpredX = PLDMobj.perception.xPosition
+                    LDMpredY = PLDMobj.perception.yPosition
+                    # if self.cav.time > PLDMobj.perception.timestamp:
+                    #     LDMpredX += (self.cav.time - PLDMobj.perception.timestamp) * PLDMobj.perception.xSpeed
+                    #     LDMpredY += (self.cav.time - PLDMobj.perception.timestamp) * PLDMobj.perception.ySpeed
+                    #     LDMpredbbx = self.cav.LDMobj_to_o3d_bbx(PLDMobj.perception)
+                    LDMpredbbx, LDMpredline_set = get_o3d_bbx(self.cav, LDMpredX, LDMpredY, PLDMobj.perception.width,
+                                                              PLDMobj.perception.length, PLDMobj.perception.yaw)
+
+                    dist = math.sqrt(
+                        math.pow((obj.xPosition - LDMpredX), 2) + math.pow((obj.yPosition - LDMpredY), 2))
+                    iou = compute_IoU(LDMpredbbx, object_list[j].o3d_bbx)
+                    if iou > 0:
+                        IoU_map[i, j] = iou
+                    elif dist > 3:  # if dist < 3 --> IoU_map[i, j] = 0
+                        IoU_map[i, j] = -1000
+                i += 1
+                ldm_ids.append(ID)
+            matched, new = linear_assignment(-IoU_map)
+            return IoU_map, new, matched, ldm_ids
+        else:
+            return None, None, None, None
+
+    def processCAM(self, CAM):
+        referencePosition = CAM['referencePosition']
+        highFreqContainer = CAM['highFrequencyContainer']
+        # Compute the CARLA transform with the longitude and latitude values
+        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
+                                                  float(referencePosition['longitude']) / 10000000,
+                                                  referencePosition['altitude'],
+                                                  self.cav.localizer.geo_ref.latitude,
+                                                  self.cav.localizer.geo_ref.longitude, 0.0)
+
+        fromTransform = carla.Transform(
+            carla.Location(
+                x=carlaX, y=carlaY, z=referencePosition['altitude']), carla.Rotation(
+                pitch=0, yaw=float(highFreqContainer['heading']) / 10, roll=0))
+        extent = carla.Vector3D(float(highFreqContainer['vehicleLength']) / 10.0,
+                                float(highFreqContainer['vehicleWidth']) / 10.0, 0.75)
+        carlaTransform = fromTransform
+        newCV = Perception(carlaTransform.location.x,
+                           carlaTransform.location.y,
+                           extent.x,
+                           extent.y,
+                           CAM['timestamp'] / 1000,
+                           100,
+                           float(highFreqContainer['speed']) / 100 * math.cos(
+                               math.radians(carlaTransform.rotation.yaw)),
+                           float(highFreqContainer['speed']) / 100 * math.sin(
+                               math.radians(carlaTransform.rotation.yaw)),
+                           carlaTransform.rotation.yaw,
+                           ID=CAM['stationID'])
+        newCV.yaw = carlaTransform.rotation.yaw
+        # print('Vehicle ' + str(self.cav.vehicle.id) + ' received CAM from vehicle ' + str(CAM['stationID']))
+        self.cav.pldm_mutex.acquire()
+        ldm_id = self.CAMfusion(newCV)
+        self.cav.pldm_mutex.release()
+        if CAM['isJoinable'] is True:
+            self.V2Xagent.pcService.updateJoinableList(ldm_id)
+        return True
+
+    def CAMfusion(self, CAMobject):
+        CAMobject.o3d_bbx, CAMobject.line_set = get_o3d_bbx(self.cav,
+                                                            CAMobject.xPosition,
+                                                            CAMobject.yPosition,
+                                                            CAMobject.width,
+                                                            CAMobject.length,
+                                                            CAMobject.yaw)
+        if CAMobject.id in self.pldm.PLDM:
+            # If this is not the first CAM
+            self.pldm.PLDM[CAMobject.id].kalman_filter.predict(self.cav.get_time_ms())
+            x, y, vx, vy, ax, ay = self.pldm.PLDM[CAMobject.id].kalman_filter.update(CAMobject.xPosition,
+                                                                                     CAMobject.yPosition,
+                                                                                     self.cav.get_time_ms())
+            # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
+            CAMobject.xPosition = x
+            CAMobject.yPosition = y
+            CAMobject.xSpeed = vx
+            CAMobject.ySpeed = vy
+            CAMobject.xacc = ax
+            CAMobject.yacc = ay
+            self.pldm.PLDM[CAMobject.id].insertPerception(CAMobject)
+        else:
+            # If this is the first CAM, check if we are already perceiving it
+            IoU_map, new, matched, ldm_ids = self.match_PLDMObject([CAMobject])
+            if IoU_map is not None:
+                if IoU_map[matched[0], new[0]] >= 0:
+                    # If we are perceiving this object, delete the entry as PO
+                    del self.pldm.PLDM[ldm_ids[matched[0]]]
+                    self.pldm.PLDM_ids.add(ldm_ids[matched[0]])
+            # Create new entry
+            if CAMobject.id in self.pldm.PLDM_ids:
+                self.pldm.PLDM_ids.remove(CAMobject.id)
+            self.pldm.PLDM[CAMobject.id] = newPLDMentry(CAMobject, CAMobject.id, detected=False, onSight=True)
+            self.pldm.PLDM[CAMobject.id].PM = True
+            self.pldm.PLDM[CAMobject.id].kalman_filter = PO_kalman_filter(0.1)
+            self.pldm.PLDM[CAMobject.id].kalman_filter.init_step(CAMobject.xPosition,
+                                                                 CAMobject.yPosition,
+                                                                 vx=CAMobject.xSpeed,
+                                                                 vy=CAMobject.ySpeed)
+        return CAMobject.id
diff --git a/opencda/customize/v2x/aux.py b/opencda/customize/v2x/aux.py
index 677ce7847..9c6ba3869 100644
--- a/opencda/customize/v2x/aux.py
+++ b/opencda/customize/v2x/aux.py
@@ -2,11 +2,13 @@
 import copy
 
 
-def newLDMentry(perception, id, connected=False, onSight=True):
+def newLDMentry(perception, id, detected=True, onSight=True):
+
     # Function to create a new LDMentry from a perception
     retEntry = LDMentry(id, perception.xPosition, perception.yPosition, perception.width, perception.length,
                         perception.timestamp, perception.confidence, xSpeed=perception.xSpeed, ySpeed=perception.ySpeed,
-                        heading=perception.heading, connected=connected, o3d_bbx=perception.o3d_bbx, onSight=True)
+                        heading=perception.heading, yaw=perception.yaw, detected=detected, o3d_bbx=perception.o3d_bbx, onSight=True,
+                        itsType=perception.itsType)
     retEntry.insertPerception(retEntry.perception)
     return retEntry
 
@@ -22,29 +24,30 @@ def newPLDMentry(perception, id, detected=True, onSight=True):
 
 
 class LDMentry:
-    def __init__(self, id, xPosition, yPosition, width, length, timestamp, confidence, xSpeed=0, ySpeed=0, heading=0,
-                 connected=False, o3d_bbx=None, onSight=True):
+    def __init__(self, id, xPosition, yPosition, width, length, timestamp, confidence, xSpeed=0, ySpeed=0, heading=0, yaw=0,
+                 detected=True, o3d_bbx=None, onSight=True, itsType ='vehicle'):
         self.perception = Perception(xPosition, yPosition, width, length, timestamp, confidence,
-                                     xSpeed=xSpeed, ySpeed=ySpeed, heading=heading, o3d_bbx=o3d_bbx)
-        self.perception.connected = connected
+                                     xSpeed=xSpeed, ySpeed=ySpeed, heading=heading, yaw=yaw, o3d_bbx=o3d_bbx, itsType=itsType)
+        self.perception.detected = detected
         self.pathHistory = deque([], maxlen=10)
         self.CPM_lastIncluded = None  # Last included perception on a CPM
         # Metadata
         self.id = id
-        self.connected = connected  # True if we received a CAM from this vehicle
+        self.detected = detected  # False if this is a CV
         self.onSight = onSight  # False if this is obj is not currently on sight
-        self.CPM = False  # True if this object has been perceived from a CPM
         self.perceivedBy = []
         self.kalman_filter = None
         self.tracked = False  # True if this object has been tracked for at least 10 frames
-
+        self.CPM = False  # True if this object has been perceived from a CPM
+        self.itsType = itsType  # For now ITStype can be either 'vehicle' or 'pedestrian'
+        self.VAM = False  # True if this object has been perceived from a VAM
 
     def insertPerception(self, obj):
         self.perception = obj
         if len(self.pathHistory) >= 10:
             self.pathHistory.popleft()
         self.pathHistory.append(copy.deepcopy(obj))
-        if len(self.pathHistory) == 10 or self.connected or self.CPM:
+        if len(self.pathHistory) == 10 or not self.detected or self.CPM:
             self.tracked = True
 
     def getLatestPoint(self):
@@ -56,8 +59,9 @@ def getOldestPoint(self):
 
 class Perception:
     def __init__(self, xPosition, yPosition, width, length, timestamp, confidence, xSpeed=0, ySpeed=0, heading=0,
-                 o3d_bbx=None, dxSpeed=0, dySpeed=0, fromID=None, ID=None, yaw = 0):
+                 o3d_bbx=None, dxSpeed=0, dySpeed=0, fromID=None, ID=None, yaw=0, itsType='vehicle'):
         self.id = ID
+        self.itsType = itsType
         self.xPosition = xPosition
         self.yPosition = yPosition
         self.width = width
@@ -78,7 +82,6 @@ def __init__(self, xPosition, yPosition, width, length, timestamp, confidence, x
         self.dySpeed = dySpeed
         self.xacc = 0
         self.yacc = 0
-        self.connected = False
         self.fromID = fromID
 
 
@@ -153,3 +156,4 @@ def generate_gradient(self):
             gradient.append(color)
 
         return gradient
+
diff --git a/opencda/customize/v2x/intruderApp.py b/opencda/customize/v2x/intruderApp.py
new file mode 100644
index 000000000..c4ae1dbba
--- /dev/null
+++ b/opencda/customize/v2x/intruderApp.py
@@ -0,0 +1,148 @@
+import carla
+import math
+import numpy as np
+import weakref
+
+from opencda.customize.platooning.states import I_FSM
+from collections import deque
+
+
+class IntruderApp(object):
+    def __init__(
+            self,
+            cav,
+            V2Xagent):
+        self.cav = cav
+        self.V2Xagent = V2Xagent
+        self.pcm_sent = 0
+        self.last_pcm = 0
+        self.isJoinable = False
+        self.joinableList = set()
+
+        # whether leader in a platoon
+        self.leader = False
+        self.PCMap = {}  # Map containing the last 10 PCM received from each PM
+        self.platooning_id = None
+        self.leader_id = None
+        self.platoon_position = None
+        self.status = I_FSM.IDLE
+
+        self.platoon_list = {}
+        self.maximum_capacity = 10
+
+        self.destination = None
+        self.center_loc = None
+
+        # this is used to control platooning speed during joining
+        self.leader_target_speed = 0
+        self.origin_leader_target_speed = 0
+        self.recover_speed_counter = 0
+
+        # the platoon in the black list won't be considered again
+        self.platooning_blacklist = []
+
+        # used to label the front and rear vehicle position
+        self.front_vehicle = None
+        self.front_front_vehicle = None
+        self.rear_vehicle = None
+        self.leader_vehicle = None
+
+        self.join_req_counter = 0
+        self.last_join_req = 0
+        self.requestTO = None
+
+        self.join_resp_counter = 0
+        self.last_join_resp = 0
+        self.responseTO = 0
+
+        self.last_tx_pcm = 0
+        self.last_rx_pcm = 0
+
+        self.leave_flag = False
+        self.leave_pcm_counter = 0
+
+        self.leave_counter = 0
+        self.last_leave_msg = 0
+
+    def getIsJoinable(self):
+        return self.isJoinable
+
+    def updateJoinableList(self, id):
+        self.joinableList.add(id)
+
+    def getPlatoonStatus(self):
+        return self.status
+
+    def checkJoinConditions(self):
+        """
+        Check conditions for joining a platoon.
+        For now this means to check if we are behind a joinable vehicle.
+        Returns
+        -------
+
+        """
+        # TODO: check which of the vehicles in front is closer
+        self.cav.ldm_mutex.acquire()
+        ldm = self.cav.get_context()
+        self.cav.ldm_mutex.release()
+        ego_pos, ego_spd, objects = self.cav.getInfo()
+        best_id = None
+        furthest = 0
+        for id in self.joinableList:
+            if id in ldm:
+                # Calculate vector from obj1 to obj2
+                diff = [ldm[id].xPosition - ego_pos.location.x, ldm[id].yPosition - ego_pos.location.y]
+                magnitude = math.sqrt(diff[0] ** 2 + diff[1] ** 2)
+                normalized = [diff[0] / magnitude, diff[1] / magnitude]
+                heading_vector = [math.cos(math.radians(ego_pos.rotation.yaw)),
+                                  math.sin(math.radians(ego_pos.rotation.yaw))]
+                # Calculate dot product
+                dot_product = normalized[0] * heading_vector[0] + normalized[1] * heading_vector[1]
+                if dot_product > 0:
+                    # ldm[id] is in front
+                    if magnitude > furthest:
+                        best_id = id
+                        furthest = magnitude
+
+        return best_id
+
+    def run_step(self):
+        if self.status == I_FSM.IDLE:
+            if self.cav.get_time_ms() > 11500:
+                # select random platoon position
+                self.platoon_position = np.random.randint(2, self.platoon_list.__len__())
+                self.leader_vehicle = self.PCMap[self.platoon_list[1]][-1]
+                self.front_vehicle = self.PCMap[self.platoon_list[self.platoon_position - 1]][-1]
+                self.rear_vehicle = self.PCMap[self.platoon_list[self.platoon_position + 1]][-1]
+                self.status = I_FSM.BEGIN
+
+        # if self.status in (I_FSM.BEGIN, I_FSM.INTRUDE, I_FSM.FINISH):
+
+    def get_lost_rx_pcm(self):
+        # print(self.PCMap.items())
+        for id, pm in self.PCMap.items():
+            if pm[(len(self.PCMap[id]) - 1)]['timestamp'] <= (
+                    (int(self.cav.get_time_ms()) % 65536) - 500):  # if older than 500ms
+                return False
+        return False
+
+    def processPCM(self, pcm):
+        # if (self.status == FSM.LEADING_MODE) or (self.status == FSM.MAINTINING) or (
+        #         self.status == FSM.JOIN_REQUEST) or (self.status == FSM.BACK_JOINING):
+        if pcm['stationID'] in self.PCMap:
+            self.PCMap[int(pcm['stationID'])].append(pcm)
+        else:
+            self.PCMap[int(pcm['stationID'])] = deque([pcm], maxlen=10)
+
+        self.platoon_list[pcm['platoonControlContainer']['platoonPosition']] = pcm['stationID']
+
+        if self.status != I_FSM.IDLE:
+            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 1:
+                self.front_vehicle = pcm
+            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position + 1:
+                self.rear_vehicle = pcm
+            if pcm['platoonControlContainer']['platoonPosition'] == 1:
+                self.leader_vehicle = pcm
+        return True
+
+
diff --git a/opencda/customize/v2x/v2x_agent.py b/opencda/customize/v2x/v2x_agent.py
index 7f3f1826e..2eade726c 100644
--- a/opencda/customize/v2x/v2x_agent.py
+++ b/opencda/customize/v2x/v2x_agent.py
@@ -8,6 +8,11 @@
     import LocalizationManager
 from opencda.core.sensing.perception.perception_manager \
     import PerceptionManager
+from opencda.customize.v2x.CAservice import CAservice
+from opencda.customize.v2x.CPservice import CPservice
+from opencda.customize.v2x.PCservice import PCservice
+from opencda.customize.v2x.PLDMservice import PLDMservice
+from opencda.customize.v2x.intruderApp import IntruderApp
 
 import os, sys, math
 import time
diff --git a/opencda/scenario_testing/config_yaml/default.yaml b/opencda/scenario_testing/config_yaml/default.yaml
index 7fcf5ce67..046998388 100644
--- a/opencda/scenario_testing/config_yaml/default.yaml
+++ b/opencda/scenario_testing/config_yaml/default.yaml
@@ -27,7 +27,7 @@ rsu_base:
     perception:
       activate: false # when not activated, objects positions will be retrieved from server directly
       camera:
-        visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
         num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
         # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
         positions:
@@ -39,14 +39,14 @@ rsu_base:
         visualize: true
         channels: 32
         range: 120
-        points_per_second: 1000000
+        points_per_second: 560000
         rotation_frequency: 20 # the simulation is 20 fps
-        upper_fov: 2
-        lower_fov: -25
+        upper_fov: 0
+        lower_fov: -20
         dropoff_general_rate: 0.3
         dropoff_intensity_limit: 0.7
         dropoff_zero_intensity: 0.4
-        noise_stddev: 0.02
+        noise_stddev: 0.0
     localization:
       activate: true # when not activated, ego position will be retrieved from server directly
       dt: ${world.fixed_delta_seconds} # used for kalman filter
@@ -68,15 +68,15 @@ vehicle_base:
       lidar: # lidar sensor configuration, check CARLA sensor reference for more details
         visualize: true
         channels: 32
-        range: 50
-        points_per_second: 100000
+        range: 80 #50
+        points_per_second: 655360 #100000
         rotation_frequency: 20 # the simulation is 20 fps
-        upper_fov: 10.0
-        lower_fov: -30.0
-        dropoff_general_rate: 0.0
+        upper_fov: 10
+        lower_fov: -30.0 #-30
+        dropoff_general_rate: 0.3
         dropoff_intensity_limit: 1.0
         dropoff_zero_intensity: 0.0
-        noise_stddev: 0.0
+        noise_stddev: 0.02
 
     localization:
       activate: false # when not activated, ego position will be retrieved from server directly
diff --git a/opencda/scenario_testing/config_yaml/ms_van3t_example_ml.yaml b/opencda/scenario_testing/config_yaml/ms_van3t_example_ml.yaml
index 408a8e7b3..0b2dcfea5 100644
--- a/opencda/scenario_testing/config_yaml/ms_van3t_example_ml.yaml
+++ b/opencda/scenario_testing/config_yaml/ms_van3t_example_ml.yaml
@@ -1,24 +1,97 @@
+# Spawn background vehicles by spawn position
+#Transform(Location(x=-87.623032, y=12.967159, z=0.600000), Rotation(pitch=0.000000, yaw=-179.840790, roll=0.000000))
+#Transform(Location(x=-67.254570, y=27.963758, z=0.600000), Rotation(pitch=0.000000, yaw=0.159198, roll=0.000000))
+
 carla_traffic_manager:
   global_distance: 4.0
   global_speed_perc: -50
   ignore_lights_percentage: 0
-  vehicle_list:
-  - spawn_position:
-    - 131.032
-    - 139.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-  - spawn_position:
-    - 121.5344
-    - 143.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
+#  vehicle_list:
+#  - spawn_position:
+#    - -41.825108
+#    - -6.604221
+#    - 0.6
+#    - 0
+#    - -90.161217
+#    - 0
+#    vehicle_speed_perc: -200
+#    blueprint: motorcycle
+#  - spawn_position:
+#    - -78.034149
+#    - 12.967159
+#    - 0.6
+#    - 0
+#    - -179.840790
+#    - 0
+#    vehicle_speed_perc: -200
+#    blueprint: bicycle
+#  - spawn_position:
+#    - -67.254570
+#    - 27.963758
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#    blueprint: Default
+
+  pedestrian_by_radius: true
+  spawn_list_by_radius:
+  - n_pedestrian: 50
+    radius: 70
+    center: [ -58, -15 ] #-58,-15# if we do not specify, radius is around cav1
+    same_destination: true
+#  - n_pedestrian: 30
+#    radius: 15
+#    center: [-70, 32] #-58,-15# if we do not specify, radius is around cav1
+#    same_destination: true
+#  - n_pedestrian: 30
+#    radius: 15
+#    center: [ -40,-28 ] # if we do not specify, radius is around cav1
+#    same_destination: true
+#  - n_pedestrian: 30
+#    radius: 15
+#    center: [ -58,-25 ] # if we do not specify, radius is around cav1
+#    same_destination: true
+
+
+#  pedestrian_list:
+#  - spawn_position:
+#    - -36.741623
+#    - -76.261688
+#    - 0.177637
+#  - spawn_position:
+#    - -49.452744
+#    - -77.609886
+#    - 0.177637
+#  - spawn_position:
+#    - -35.085068
+#    - -18.718769
+#    - 0.177637
+#  - spawn_position:
+#    - -65.538940
+#    - 7.304374
+#    - 0.177637
+#  - spawn_position:
+#    - -32.596573
+#    - -35.497936
+#    - 0.177637
+#  - spawn_position: #ok
+#    - -32.952545
+#    - -3.692704
+#    - 0.177637
+#  - spawn_position:
+#    - -75.401207
+#    - 5.655548
+#    - 0.177637
+#  - spawn_position:
+#     - -31.573521
+#     - -45.152374
+#     - 0.177637
+#  - spawn_position:
+#    - -21.175884
+#    - -76.382408
+#    - 0.177637
 
 vehicle_base:
   sensing:
@@ -63,18 +136,18 @@ platoon_base:
 
 scenario:
   town:
-    name: Town06
+    name: Town10HD
   background_traffic:
-    vehicle_num: 20
+    vehicle_num: 20 # Spawn background vehicles by number (spawn position is randomly generated)
   single_cav_list: # this is for merging vehicle or single cav without v2x
     - name: cav1
-      spawn_position: [121.7194, 139.51, 0.3, 0, 0, 0]
-      destination: [606.87, 145.39, 0]
+      spawn_position: [-69.644844, 24.471010, 0.6, 0, 0.159198, 0]  # Transform(Location(x=-64.644844, y=24.471010, z=0.600000), Rotation(pitch=0.000000, yaw=0.0, roll=0.000000))
+      destination: [606.87, 145.39, 0] #[-45.1796, -38.7032, 0]
       sensing:
         perception:
           activate: true
           camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+            visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
             num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
             # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
             positions:
@@ -90,72 +163,14 @@ scenario:
       behavior:
         <<: *base_behavior
         max_speed: 70 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: false
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav2
-      spawn_position: [111.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 145.39, 0]
-      sensing:
-        perception:
-          activate: true
-          camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        ms-van3t: true
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
+        tailgate_speed: 80
         overtake_allowed: true
         local_planner:
           debug_trajectory: true
           debug: false
 
-    - name: cav3
-      spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
-      destination: [606.87, 145.39, 0]
-      sensing:
-        perception:
-          activate: true
-          camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        ms-van3t: true
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav4
-      spawn_position: [91.7194, 146.51, 0.3, 0, 0, 0]
+    - name: cav2
+      spawn_position: [-87.623032, 12.967159, 0.3, 0, 180, 0]
       destination: [606.87, 145.39, 0]
       sensing:
         perception:
@@ -170,7 +185,7 @@ scenario:
               - [0.0, -0.3, 1.8, -100]
               - [-2.0, 0.0, 1.5, 180]
           lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
+            visualize: false
       v2x:
         communication_range: 35
         ms-van3t: true
@@ -182,3 +197,61 @@ scenario:
         local_planner:
           debug_trajectory: true
           debug: false
+##
+#    - name: cav3
+#      spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
+#      destination: [606.87, 145.39, 0]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        ms-van3t: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
+#
+#    - name: cav4
+#      spawn_position: [91.7194, 146.51, 0.3, 0, 0, 0]
+#      destination: [606.87, 145.39, 0]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        ms-van3t: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
diff --git a/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml b/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
index 50f44fe0f..cd1fd527c 100644
--- a/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
+++ b/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
@@ -142,7 +142,7 @@ scenario:
         perception:
           activate: true
           camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
             num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
             # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
             positions:
@@ -151,7 +151,7 @@ scenario:
               - [0.0, -0.3, 1.8, -100]
               - [-2.0, 0.0, 1.5, 180]
           lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: false
+            visualize: true
       v2x:
         communication_range: 35
         ms-van3t: true
diff --git a/opencda/scenario_testing/config_yaml/pedestrian_test.yaml b/opencda/scenario_testing/config_yaml/pedestrian_test.yaml
new file mode 100644
index 000000000..146aa0c58
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/pedestrian_test.yaml
@@ -0,0 +1,246 @@
+# Spawn background vehicles by spawn position
+#Transform(Location(x=-87.623032, y=12.967159, z=0.600000), Rotation(pitch=0.000000, yaw=-179.840790, roll=0.000000))
+#Transform(Location(x=-67.254570, y=27.963758, z=0.600000), Rotation(pitch=0.000000, yaw=0.159198, roll=0.000000))
+
+carla_traffic_manager:
+  global_distance: 4.0
+  global_speed_perc: -50
+  ignore_lights_percentage: 0
+  vehicle_list:
+  - spawn_position:
+    - -41.825108
+    - -6.604221
+    - 0.6
+    - 0
+    - -90.161217
+    - 0
+    vehicle_speed_perc: -200
+    blueprint: motorcycle
+  - spawn_position:
+    - -87.623032
+    - 12.967159
+    - 0.3
+    - 0
+    - -179.840790
+    - 0
+    vehicle_speed_perc: -200
+    blueprint: bicycle
+  - spawn_position:
+    - -67.254570
+    - 27.963758
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+    blueprint: Default
+
+
+  pedestrian_list:
+  - spawn_position:
+    - -36.741623
+    - -76.261688
+    - 0.177637
+  - spawn_position:
+    - -49.452744
+    - -77.609886
+    - 0.177637
+  - spawn_position:
+    - -35.085068
+    - -18.718769
+    - 0.177637
+  - spawn_position:
+    - -65.538940
+    - 7.304374
+    - 0.177637
+  - spawn_position:
+    - -32.596573
+    - -35.497936
+    - 0.177637
+  - spawn_position: #ok
+    - -32.952545
+    - -3.692704
+    - 0.177637
+  - spawn_position:
+    - -75.401207
+    - 5.655548
+    - 0.177637
+  - spawn_position:
+     - -31.573521
+     - -45.152374
+     - 0.177637
+  - spawn_position:
+    - -21.175884
+    - -76.382408
+    - 0.177637
+    -
+  # if we do not specify, radius is around cav1
+  pedestrian_by_radius: true
+  spawn_list_by_radius:
+  - n_pedestrian: 4
+    radius: 10
+    center: [-64,35]
+    same_destination: true
+
+vehicle_base:
+  sensing:
+    perception:
+      activate: false # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [ 2.5, 0, 1.0, 0 ]
+          - [ 0.0, 0.3, 1.8, 100 ]
+          - [ 0.0, -0.3, 1.8, -100 ]
+          - [ -2.0, 0.0, 1.5, 180 ]
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: true
+
+    localization: &base_localize
+      activate: false # when not activated, ego position will be retrieved from server directly
+      gnss: # gnss sensor configuration
+        heading_direction_stddev: 0.1 # degree
+        speed_stddev: 0.2
+      debug_helper:
+        show_animation: false # whether to show real-time trajectory plotting
+        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
+        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
+  map_manager:
+    visualize: false
+    activate: false
+  behavior: &base_behavior
+    max_speed: 70 # maximum speed, km/h
+    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: true # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.1 # used for collision checking
+
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.2 # desired time gap
+  open_gap: 1.0 # open gap
+  warm_up_speed: 30 # required speed before cooperative merging
+
+
+scenario:
+  town:
+    name: Town10HD
+  background_traffic:
+    vehicle_num: 20 # Spawn background vehicles by number (spawn position is randomly generated)
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [-64.644844, 24.471010, 0.6, 0, 0.159198, 0]  # Transform(Location(x=-64.644844, y=24.471010, z=0.600000), Rotation(pitch=0.000000, yaw=0.0, roll=0.000000))
+      destination: [606.87, 145.39, 0]
+      sensing:
+        perception:
+          activate: true
+          camera:
+            visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        ms-van3t: false # whether to use ms-van3t for communication
+      behavior:
+        <<: *base_behavior
+        max_speed: 70 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: false
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+#    - name: cav2
+#      spawn_position: [-87.623032, 12.967159, 0.3, 0, 180, 0]
+#      destination: [606.87, 145.39, 0]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: false
+#      v2x:
+#        communication_range: 35
+#        ms-van3t: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
+##
+#    - name: cav3
+#      spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
+#      destination: [606.87, 145.39, 0]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        ms-van3t: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
+#
+#    - name: cav4
+#      spawn_position: [91.7194, 146.51, 0.3, 0, 0, 0]
+#      destination: [606.87, 145.39, 0]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        ms-van3t: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
new file mode 100644
index 000000000..074b5bdf9
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
@@ -0,0 +1,107 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
+           at the customized 2lanefree simple version.
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions: []
+      lidar:
+        visualize: false
+  map_manager:
+    visualize: false
+    activate: false
+  behavior:
+    max_speed: 95 # maximum speed, km/h
+    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.3 # used for collision checking
+    overtake_counter_recover: 35 # the vehicle can not do another overtake during next certain steps
+    local_planner:
+      trajectory_dt: 0.25 # for every dt seconds, we sample a trajectory point from the trajectory path as next goal state
+
+# define the platoon basic characteristics
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.6 # desired time gap
+  open_gap: 1.5 # open gap
+  warm_up_speed: 55 # required speed before cooperative merging
+
+# define the background traffic control by carla
+carla_traffic_manager:
+  global_distance: 4.0 # the minimum distance in meters that vehicles have to keep with the rest
+  # Sets the difference the vehicle's intended speed and its current speed limit.
+  #  Carla default speed is 30 km/h, so -100 represents 60 km/h,
+  # and 20 represents 24 km/h
+  global_speed_perc: -300
+  vehicle_list:
+    - spawn_position: [-285, 8.3, 0.3, 0, 0, 0]
+    - spawn_position: [-310, 8.3, 0.3, 0, 0, 0]
+    - spawn_position: [-390, 8.3, 0.3, 0, 0, 0]
+    - spawn_position: [-320, 4.8, 0.3, 0, 0, 0]
+      vehicle_speed_perc: -200
+    - spawn_position: [-335, 4.8, 0.3, 0, 0, 0]
+    - spawn_position: [-360, 4.8, 0.3, 0, 0, 0]
+    - spawn_position: [-400, 4.8, 0.3, 0, 0, 0]
+    - spawn_position: [-410, 4.8, 0.3, 0, 0, 0]
+
+# define scenario. In this scenario, a 4-vehicle platoon already exists.
+scenario:
+  platoon_list:
+    - name: platoon1
+      destination: [1000.372955, 8.3, 0.3]
+      members: # the first one is regarded as leader by default
+        - name: cav1
+          spawn_position: [-350, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
+          perception:
+            camera:
+              visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+              num: 1 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+              # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+              positions:
+                - [2.5, 0, 1.0, 0]
+            lidar:
+              visualize: true
+          behavior:
+            local_planner:
+              debug_trajectory: true
+              debug: false
+        - name: cav2
+          spawn_position: [-360, 8.3, 0.3, 0, 0, 0]
+        - name: cav3
+          spawn_position: [-370, 8.3, 0.3, 0, 0, 0]
+        - name: cav4
+          spawn_position: [-380, 8.3, 0.3, 0, 0, 0]
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: single_cav
+      spawn_position: [-380, 4.8, 0.3, 0, 0, 0]
+      # when this is defined, the above parameter will be ignored, and a special map function will
+      # be used to define the spawn position based on the argument
+      spawn_special: [0.625]
+      destination: [300, 12.0, 0]
+      sensing:
+        perception:
+          camera:
+            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 1 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+          lidar:
+            visualize: true
+      v2x:
+        communication_range: 35
+      behavior:
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
new file mode 100644
index 000000000..c7bd55019
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
@@ -0,0 +1,122 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the co-simulation scenario testing configuration file for platooning joining and cooperative merge
+           at the customized 2lanefree simple version.
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      activate: true # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+        - [ 2.5, 0, 1.0, 0 ]
+        - [ 0.0, 0.3, 1.8, 100 ]
+        - [ 0.0, -0.3, 1.8, -100 ]
+        - [ -2.0, 0.0, 1.5, 180 ]
+      lidar:
+        visualize: true
+  map_manager:
+    visualize: false
+    activate: false
+  behavior:
+    max_speed: 95 # maximum speed, km/h
+    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.3 # used for collision checking
+    overtake_counter_recover: 35 # the vehicle can not do another overtake during next certain steps
+    local_planner: &base_local_planner # trajectory planning related
+      trajectory_dt: 0.25 # for every dt seconds, we sample a trajectory point from the trajectory path as next goal state
+
+# define sumo simulation setting for traffic generation
+sumo:
+  port: ~
+  host: ~
+  gui: true
+  client_order: 1
+  multiple_clients: False
+  step_length: ${world.fixed_delta_seconds}
+
+# define the platoon basic characteristics
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.6 # desired time gap
+  open_gap: 1.5 # open gap
+  warm_up_speed: 55 # required speed before cooperative merging
+
+
+scenario:
+  platoon_list:
+    - name: platoon1
+      destination: [1000.372955, 8.3, 0.3]
+      members: # the first one is regarded as leader by default
+        - name: cav1
+          spawn_position: [-350, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
+          perception:
+            activate: true
+            camera:
+              visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+              num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+              # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+              positions:
+                - [ 2.5, 0, 1.0, 0 ]
+                - [ 0.0, 0.3, 1.8, 100 ]
+                - [ 0.0, -0.3, 1.8, -100 ]
+                - [ -2.0, 0.0, 1.5, 180 ]
+            lidar:
+              visualize: true
+          behavior:
+            local_planner:
+              debug_trajectory: true
+              debug: false
+        - name: cav2
+          spawn_position: [-360, 8.3, 0.3, 0, 0, 0]
+        - name: cav3
+          spawn_position: [-370, 8.3, 0.3, 0, 0, 0]
+        - name: cav4
+          spawn_position: [-380, 8.3, 0.3, 0, 0, 0]
+#        - name: cav5
+#          spawn_position: [-390, 8.3, 0.3, 0, 0, 0 ]
+#        - name: cav6
+#          spawn_position: [-400, 8.3, 0.3, 0, 0, 0 ]
+#        - name: cav7
+#          spawn_position: [-410, 8.3, 0.3, 0, 0, 0 ]
+#        - name: cav8
+#          spawn_position: [-420, 8.3, 0.3, 0, 0, 0 ]
+#        - name: cav9
+#          spawn_position: [-430, 8.3, 0.3, 0, 0, 0 ]
+
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: single_cav
+      spawn_position: [-380, 10.5, 0.3, 0, 0, 0]
+      # when this is defined, the above parameter will be ignored, and a special map function will
+      # be used to define the spawn position based on the argument
+      spawn_special: [0.655]
+      destination: [300, 12.0, 0]
+      sensing:
+        perception:
+          activate: true
+          camera:
+            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [ 2.5, 0, 1.0, 0 ]
+              - [ 0.0, 0.3, 1.8, 100 ]
+              - [ 0.0, -0.3, 1.8, -100 ]
+              - [ -2.0, 0.0, 1.5, 180 ]
+          lidar:
+            visualize: true
+      v2x:
+        communication_range: 35
+      behavior:
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
new file mode 100644
index 000000000..f154ec722
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
@@ -0,0 +1,169 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
+           at the Town06 using  CARLA only.
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      activate: true # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [ 2.5, 0, 1.0, 0 ]
+          - [ 0.0, 0.3, 1.8, 100 ]
+          - [ 0.0, -0.3, 1.8, -100 ]
+          - [ -2.0, 0.0, 1.5, 180 ]
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: true
+
+    localization: &base_localize
+      activate: true # when not activated, ego position will be retrieved from server directly
+      gnss: # gnss sensor configuration
+        heading_direction_stddev: 0.1 # degree
+        speed_stddev: 0.2
+      debug_helper:
+        show_animation: false # whether to show real-time trajectory plotting
+        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
+        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
+  map_manager:
+    visualize: false
+    activate: false
+  behavior: &base_behavior
+    max_speed: 70 # maximum speed, km/h
+    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.1 # used for collision checking
+# define the platoon basic characteristics
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.6 # desired time gap
+  open_gap: 1.2 # open gap
+  warm_up_speed: 30 # required speed before cooperative merging
+
+
+# define the background traffic control by carla
+carla_traffic_manager:
+  global_distance: 4.0 # the minimum distance in meters that vehicles have to keep with the rest
+  # Sets the difference the vehicle's intended speed and its current speed limit.
+  #  Carla default speed is 30 km/h, so -100 represents 60 km/h,
+  # and 20 represents 24 km/h
+  global_speed_perc: -50
+  ignore_lights_percentage: 0 # whether set the traffic ignore traffic lights
+  vehicle_list:
+    - spawn_position: [101.7194, 136.51, 0.3, 0, 0, 0]
+      vehicle_speed_perc: -200
+#    - spawn_position: [161.7194, 139.51, 0.3, 0, 0, 0]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 141.7194, 139.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 121.7194, 136.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 111.7194, 146.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 85.7194, 136.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 70.7194, 149.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 115.7194, 143.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 98.7194, 143.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+    - spawn_position: [ 92.7194, 146.51, 0.3, 0, 0, 0 ]
+      vehicle_speed_perc: -300
+#    - spawn_position: [ 128.7194, 143.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 141.7194, 136.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 131.7194, 149.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+#    - spawn_position: [ 105.7194, 149.51, 0.3, 0, 0, 0 ]
+#      vehicle_speed_perc: -300
+
+
+# define scenario. In this scenario, a 4-vehicle platoon already exists.
+scenario:
+  platoon_list:
+    - name: platoon1
+      destination: [630, 141.39, 0.3]
+      members: # the first one is regarded as leader by default
+        - name: cav1
+          spawn_position: [121.7194, 139.51, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
+          sensing:
+            perception:
+              camera:
+                visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+                num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+                # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+                positions:
+                  - [ 2.5, 0, 1.0, 0 ]
+                  - [ 0.0, 0.3, 1.8, 100 ]
+                  - [ 0.0, -0.3, 1.8, -100 ]
+                  - [ -2.0, 0.0, 1.5, 180 ]
+              lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+                visualize: true
+          behavior:
+            local_planner:
+              debug_trajectory: false
+              debug: false
+#        - name: cav2
+#          spawn_position: [111.7194, 139.51, 0.3, 0, 0, 0]
+#        - name: cav3
+#          spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
+#        - name: cav4
+#          spawn_position: [91.7194, 139.51, 0.3, 0, 0, 0]
+
+
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [90.7194, 143.51, 0.3, 0, 0, 0]
+      destination: [606.87, 145.39, 0]
+      sensing:
+        perception:
+          activate: true
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+#    - name: cav2
+#      spawn_position: [ 37.7194, 143.51, 0.3, 0, 0, 0 ]
+#      destination: [ 606.87, 145.39, 0 ]
+#      sensing:
+#        perception:
+#          activate: true
+#          camera:
+#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [ 2.5, 0, 1.0, 0 ]
+#              - [ 0.0, 0.3, 1.8, 100 ]
+#              - [ 0.0, -0.3, 1.8, -100 ]
+#              - [ -2.0, 0.0, 1.5, 180 ]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+
+
+
diff --git a/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
new file mode 100644
index 000000000..67bb4174e
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
@@ -0,0 +1,58 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
+           at the customized 2lanefree simple version.
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions: []
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: false
+
+    localization:
+      activate: true # when not activated, ego position will be retrieved from server directly
+      debug_helper:
+        show_animation: false # whether to show real-time trajectory plotting
+        show_plotting: false # whether to show loc data plotting after simulation
+        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
+        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
+  map_manager:
+    activate: false
+  behavior:
+    max_speed: 80 # maximum speed, km/h
+    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.3 # used for collision checking
+    overtake_counter_recover: 35 # used to avoid successive overtaking
+    sample_resolution: 4.5 # the unit distance between two adjacent waypoints in meter
+
+
+# define scenario. In this scenario, a 4-vehicle platoon exists.
+# 4 agent speed to different speeds and stay at current speed before changing again.
+scenario:
+  platoon_list:
+    - name: platoon1
+      destination: [1100.372955, 8.3, 0.3]
+      members: # the first one is regarded as leader by default
+        - name: cav1
+          spawn_position: [-1000.722836, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
+          behavior:
+            local_planner:
+              debug_trajectory: true
+              debug: false
+        - name: cav2
+          spawn_position: [-1010.722836, 8.3, 0.3, 0, 0, 0]
+        - name: cav3
+          spawn_position: [-1020.722836, 8.3, 0.3, 0, 0, 0]
+        - name: cav4
+          spawn_position: [-1030.722836, 8.3, 0.3, 0, 0, 0]
+        - name: cav5
+          spawn_position: [-1040.722836, 8.3, 0.3, 0, 0, 0]
+
diff --git a/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml b/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
new file mode 100644
index 000000000..d134a8a33
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
@@ -0,0 +1,253 @@
+carla_traffic_manager:
+  global_distance: 4.0
+  global_speed_perc: -50
+  ignore_lights_percentage: 0
+  vehicle_list:
+  - spawn_position:
+    - -50.59
+    - -22.81
+    - 0.3
+    - 0
+    - 60
+    - 0
+    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -50.59
+#    - -32.81
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+  - spawn_position:
+    - -50.59
+    - -42.81
+    - 0.3
+    - 0
+    - 120
+    - 0
+    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -50.59
+#    - -52.81
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -50.59
+#    - -62.81
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -54.59
+#    - -22.81
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -50.59
+#    - 15
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -54.59
+#    - 20
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -54.59
+#    - 30
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -54.59
+#    - 40
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -50.59
+#    - 25
+#    - 0.3
+#    - 0
+#    - 90
+#    - 0
+#    vehicle_speed_perc: -200
+#
+#  - spawn_position:
+#    - -67.5
+#    - -6
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -77.5
+#    - -6
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - -70.59
+#    - -2
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+vehicle_base:
+  sensing:
+    perception:
+      activate: false # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [ 2.5, 0, 1.0, 0 ]
+          - [ 0.0, 0.3, 1.8, 100 ]
+          - [ 0.0, -0.3, 1.8, -100 ]
+          - [ -2.0, 0.0, 1.5, 180 ]
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: true
+
+    localization: &base_localize
+      activate: false # when not activated, ego position will be retrieved from server directly
+      gnss: # gnss sensor configuration
+        heading_direction_stddev: 0.1 # degree
+        speed_stddev: 0.2
+      debug_helper:
+        show_animation: false # whether to show real-time trajectory plotting
+        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
+        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
+  map_manager:
+    visualize: false
+    activate: false
+  behavior: &base_behavior
+    max_speed: 70 # maximum speed, km/h
+    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.1 # used for collision checking
+
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.6 # desired time gap
+  open_gap: 1.2 # open gap
+  warm_up_speed: 30 # required speed before cooperative merging
+
+
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+#    - name: cav1
+#      spawn_position: [-54.59, -22.81, 0.60, 0, 90, 0]
+#      destination: [606.87, 146.39, 0]
+#      sensing:
+#        perception:
+#          activate: false
+#          camera:
+#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        platoon_init_pos: 1
+#        pldm: true
+#        intruder: false
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 70 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: false
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
+
+    - name: cav2
+      spawn_position: [-54.59, -32.81, 0.60, 0, 60, 0]
+      destination: [606.87, 143.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 0
+        pldm: false
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+    - name: cav3
+      spawn_position: [-54.59, -52.81, 0.60, 0, 90, 0]
+      destination: [606.87, 143.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 3
+        pldm: true
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
diff --git a/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml b/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
new file mode 100644
index 000000000..8d22a6076
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
@@ -0,0 +1,363 @@
+carla_traffic_manager:
+  global_distance: 4.0
+  global_speed_perc: -50
+  ignore_lights_percentage: 0
+  vehicle_list:
+  - spawn_position:
+    - 121.7194
+    - 146.51
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+  - spawn_position:
+    - 111.7194
+    - 146.51
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+  - spawn_position:
+    - 101.7194
+    - 146.51
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+  - spawn_position:
+    - 91.7194
+    - 146.51
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+  - spawn_position:
+    - 81.7194
+    - 146.51
+    - 0.3
+    - 0
+    - 0
+    - 0
+    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 105.7194
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 85.7194
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 101.7194
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 91.7194
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 81.7194
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 125.0926
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 121.2634
+#    - 136.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 100.4697
+#    - 146.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 68.4432
+#    - 143.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 88.5994
+#    - 146.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 60.8507
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 79.2864
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 55.8898
+#    - 143.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 136.2686
+#    - 149.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+#  - spawn_position:
+#    - 155.4882
+#    - 146.51
+#    - 0.3
+#    - 0
+#    - 0
+#    - 0
+#    vehicle_speed_perc: -200
+
+vehicle_base:
+  sensing:
+    perception:
+      activate: true # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [ 2.5, 0, 1.0, 0 ]
+          - [ 0.0, 0.3, 1.8, 100 ]
+          - [ 0.0, -0.3, 1.8, -100 ]
+          - [ -2.0, 0.0, 1.5, 180 ]
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: true
+
+    localization: &base_localize
+      activate: false # when not activated, ego position will be retrieved from server directly
+      gnss: # gnss sensor configuration
+        heading_direction_stddev: 0.1 # degree
+        speed_stddev: 0.2
+      debug_helper:
+        show_animation: false # whether to show real-time trajectory plotting
+        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
+        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
+  map_manager:
+    visualize: false
+    activate: false
+  behavior: &base_behavior
+    max_speed: 70 # maximum speed, km/h
+    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+    collision_time_ahead: 1.1 # used for collision checking
+
+platoon_base:
+  max_capacity: 10
+  inter_gap: 0.6 # desired time gap
+  open_gap: 1.2 # open gap
+  warm_up_speed: 30 # required speed before cooperative merging
+
+
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [121.7194, 143.51, 0.3, 0, 0, 0]
+      destination: [606.87, 146.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 1
+        pldm: true
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 70 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: false
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+    - name: cav2
+      spawn_position: [111.7194, 143.51, 0.3, 0, 0, 0]
+      destination: [606.87, 143.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 2
+        pldm: true
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+    - name: cav3
+      spawn_position: [101.7194, 143.51, 0.3, 0, 0, 0]
+      destination: [606.87, 143.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 3
+        pldm: true
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+    - name: cav4
+      spawn_position: [91.7194, 143.51, 0.3, 0, 0, 0]
+      destination: [606.87, 143.39, 0]
+      sensing:
+        perception:
+          activate: false
+          camera:
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+            positions:
+              - [2.5, 0, 1.0, 0]
+              - [0.0, 0.3, 1.8, 100]
+              - [0.0, -0.3, 1.8, -100]
+              - [-2.0, 0.0, 1.5, 180]
+          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+            visualize: true
+      v2x:
+        communication_range: 35
+        platoon_init_pos: 4
+        pldm: true
+        intruder: false
+      behavior:
+        <<: *base_behavior
+        max_speed: 100 # maximum speed, km/h
+        tailgate_speed: 111
+        overtake_allowed: true
+        local_planner:
+          debug_trajectory: true
+          debug: false
+
+#    - name: cav5
+#      spawn_position: [81.7194, 143.51, 0.3, 0, 0, 0]
+#      destination: [606.87, 143.39, 0]
+#      sensing:
+#        perception:
+#          activate: false
+#          camera:
+#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+#            positions:
+#              - [2.5, 0, 1.0, 0]
+#              - [0.0, 0.3, 1.8, 100]
+#              - [0.0, -0.3, 1.8, -100]
+#              - [-2.0, 0.0, 1.5, 180]
+#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+#            visualize: true
+#      v2x:
+#        communication_range: 35
+#        platoon_init_pos: 0
+#        pldm: true
+#        intruder: true
+#      behavior:
+#        <<: *base_behavior
+#        max_speed: 100 # maximum speed, km/h
+#        tailgate_speed: 111
+#        overtake_allowed: true
+#        local_planner:
+#          debug_trajectory: true
+#          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
new file mode 100644
index 000000000..91ae909a8
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
@@ -0,0 +1,33 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
+           testing in high speed in the customized 2lanefree simple version.
+
+# define the carla traffic
+carla_traffic_manager:
+  vehicle_list:
+    - spawn_position: [ -330, 8.3, 0.3, 0, 0, 0 ]
+      vehicle_speed_perc: 0
+    - spawn_position: [ -320, 4.8, 0.3, 0, 0, 0 ]
+      vehicle_speed_perc: -200
+    - spawn_position: [ -300, 8.3, 0.3, 0, 0, 0 ]
+      vehicle_speed_perc: -100
+    - spawn_position: [ -280, 4.8, 0.3, 0, 0, 0 ]
+      vehicle_speed_perc: -200
+
+
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [ -370, 8.3, 0.3, 0, 0, 0 ]
+      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
+      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
+      # spawn_special: [0.34]
+      destination: [ 700, 8.3, 0.3 ]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: true
+          debug: true
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
new file mode 100644
index 000000000..3951f7f0e
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
@@ -0,0 +1,41 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
+           testing in high speed in the customized 2lanefree simple version. Co-simulation is activated.
+
+
+# define carla simulation setting
+world:
+  seed: 11
+
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  map_manager:
+    visualize: false
+    activate: false
+
+# define sumo simulation setting for traffic generation
+sumo:
+  port: ~
+  host: ~
+  gui: true
+  client_order: 1
+  step_length: ${world.fixed_delta_seconds}
+
+# define scenario. In this scenario, only a single CAV will be spawned
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [-370, 4.8, 0.3, 0, 0, 0]
+      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
+      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
+      # spawn_special: [0.34]
+      destination: [700, 8.3, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: true
+          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml b/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
new file mode 100644
index 000000000..4333dd1ca
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
@@ -0,0 +1,41 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
+           testing in high speed in the customized 2lanefree simple version.
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      camera:
+        visualize: 0
+        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions: []
+  behavior:
+    max_speed: 50 # maximum speed, km/h
+    ignore_traffic_light: false # whether to ignore traffic light
+    collision_time_ahead: 2.0 # used for collision checking
+
+# define the background traffic control by carla
+carla_traffic_manager:
+  random: true # whether to random select vehicles' color and model
+  vehicle_list: ~  # a number or a list
+  # Used only when vehicle_list is a number.
+  # x_min, x_max, y_min, y_max, x_step, y_step, veh_num
+  range:
+    - [ 2, 10, 0, 200, 3.5, 25, 30]
+
+# define scenario. In this scenario, a 4-vehicle platoon already exists.
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [6.31, 125.03, 0.3, 0, -92, 0]
+      destination: [-12.51, 110.31, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: true
+          debug: true
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml b/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
new file mode 100644
index 000000000..9b3aa989e
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
@@ -0,0 +1,43 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file town05 cosimulation.
+
+
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      camera:
+        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions: []
+  behavior:
+    max_speed: 50 # maximum speed, km/h
+    tailgate_speed: 60 # when a vehicles needs to be close to another vehicle asap
+
+# define sumo simulation setting for traffic generation
+sumo:
+  port: 8813
+  host: localhost
+  gui: true
+  client_order: 1
+  step_length: ${world.fixed_delta_seconds}
+
+# define scenario. In this scenario, only a single CAV will be spawned
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [-54.59, -22.81, 0.60, 0, 60, 0]
+      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
+      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
+      # spawn_special: [0.34]
+      destination: [24.54, 161.94, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: true
+          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_town06_carla.yaml b/opencda/scenario_testing/config_yaml/single_town06_carla.yaml
new file mode 100644
index 000000000..2339f41fd
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_town06_carla.yaml
@@ -0,0 +1,52 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for single vehicle testing in town06 with perception/localization activated
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      activate: true # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [2.5, 0, 1.0, 0]
+          - [0.0, 0.3, 1.8, 100]
+          - [0.0, -0.3, 1.8, -100]
+          - [-2.0, 0.0, 1.5, 180]
+
+    localization:
+      activate: true # when not activated, ego position will be retrieved from server directly
+      debug_helper:
+        show_animation: true # whether to show real-time trajectory plotting
+
+  behavior:
+    ignore_traffic_light: false # whether to ignore traffic light
+    collision_time_ahead: 2.0 # used for collision checking
+
+
+# define the background traffic control by carla
+carla_traffic_manager:
+  random: true # whether to random select vehicles' color and model
+  ignore_lights_percentage: 0 # whether set the traffic ignore traffic lights
+  vehicle_list: ~  # a number or a list
+  # Used only when vehicle_list is a number.
+  # x_min, x_max, y_min, y_max, x_step, y_step
+  range:
+    - [ 50, 250, 135, 145, 50, 4, 30]
+
+# define scenario. In this scenario, only a single CAV will be spawned
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [47.7194, 139.51, 0.3, 0, 0, 0]
+      destination: [100, 145.51, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: false
+          debug: false
diff --git a/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml b/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
new file mode 100644
index 000000000..ff26353f5
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
@@ -0,0 +1,59 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for single vehicle full-stack system in town06 with co-simulation
+
+# First define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+    perception:
+      activate: true # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [2.5, 0, 1.0, 0]
+          - [0.0, 0.3, 1.8, 100]
+          - [0.0, -0.3, 1.8, -100]
+          - [-2.0, 0.0, 1.5, 180]
+
+    localization:
+      activate: true # when not activated, ego position will be retrieved from server directly
+      debug_helper:
+        show_animation: true # whether to show real-time trajectory plotting
+
+  behavior:
+    ignore_traffic_light: false # whether to ignore traffic light
+    collision_time_ahead: 2.0 # used for collision checking
+
+# define sumo simulation setting for traffic generation
+sumo:
+  port: ~
+  host: ~
+  gui: true
+  client_order: 1
+  step_length: ${world.fixed_delta_seconds}
+
+
+# define scenario. In this scenario, only a single CAV will be spawned
+scenario:
+  single_cav_list: # this is for merging vehicle or single cav without v2x
+    - name: cav1
+      spawn_position: [47.7194, 139.51, 0.3, 0, 0, 0]
+      destination: [600, 145.51, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: false
+          debug: false
+    - name: cav2
+      spawn_position: [32.7194, 139.51, 0.3, 0, 0, 0]
+      destination: [600, 145.51, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: false
+          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml b/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
new file mode 100644
index 000000000..a66a48a81
--- /dev/null
+++ b/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
@@ -0,0 +1,91 @@
+description: |-
+  Copyright 2021 <UCLA Mobility Lab>
+  Author: Runsheng Xu <rxx3386@ucla.edu>
+  Content: This is the scenario testing configuration file for v2x perception data dumping
+
+# Define settings for multi-class blueprint spawning
+# Comment out this chunk of code or set use_multi_class_bp to be False if you don't want to spawn multi-class actors
+blueprint:
+  use_multi_class_bp: true
+  bp_meta_path: "opencda/assets/blueprint_meta/bbx_stats_0912.json" # Define the path for loading the blueprint metadata for defining the class of each blueprint
+  # Define blueprint type sample probabilities
+  bp_class_sample_prob:
+    car: 0.5
+    truck: 0.1
+    bus: 0.1
+    bicycle: 0.1
+    motorcycle: 0.1
+
+
+# Define the basic parameters of the vehicles
+vehicle_base:
+  sensing:
+      activate: false # when not activated, objects positions will be retrieved from server directly
+      camera:
+        visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
+        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
+        positions:
+          - [2.5, 0, 1.0, 0]
+          - [0.0, 0.3, 1.8, 100]
+          - [0.0, -0.3, 1.8, -100]
+          - [-2.0, 0.0, 1.5, 180]
+      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
+        visualize: true
+        channels: 32
+        range: 120
+        points_per_second: 1000000
+        rotation_frequency: 20 # the simulation is 20 fps
+        upper_fov: 2
+        lower_fov: -25
+        dropoff_general_rate: 0.3
+        dropoff_intensity_limit: 0.7
+        dropoff_zero_intensity: 0.4
+        noise_stddev: 0.02
+  map_manager:
+    visualize: false
+    activate: false
+  behavior:
+    max_speed: 30 # maximum speed, km/h
+    tailgate_speed: 34 # when a vehicles needs to be close to another vehicle asap
+    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
+
+
+# define the background traffic control by carla
+carla_traffic_manager:
+  global_speed_perc: -10
+  auto_lane_change: true
+  random: true # whether to random select vehicles' color and model
+  ignore_lights_percentage: 100 # whether set the traffic ignore traffic lights
+  vehicle_list: ~  # a number or a list
+  # Used only when vehicle_list is a number.
+  #  x_min, x_max, y_min, y_max, x_step, y_step, vehicle_num
+  range:
+    - [-11, 12, 100, 200, 3.5, 15, 25]
+
+# define scenario. In this scenario, a 4-vehicle platoon already exists.
+scenario:
+  rsu_list:
+    - name: rsu1
+      spawn_position: [12.00, 192.31, 3.0]
+      id: -1
+
+  single_cav_list:
+    - name: cav1
+      spawn_position: [12.00, 192.31, 0.3, 0, -90, 0]
+      destination: [67.12, 150.2, 1.0]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: false
+          debug: false
+    - name: cav2
+      spawn_position: [-5.51, 110.24, 0.3, 0, 90, 0]
+      destination: [-2.43, 263, 0.3]
+      v2x:
+        communication_range: 45
+      behavior:
+        local_planner:
+          debug_trajectory: false
+          debug: false
diff --git a/opencda/scenario_testing/ms_van3t_example.py b/opencda/scenario_testing/ms_van3t_example.py
index 8680a1436..9d4efa77b 100644
--- a/opencda/scenario_testing/ms_van3t_example.py
+++ b/opencda/scenario_testing/ms_van3t_example.py
@@ -30,9 +30,7 @@ def run_scenario(opt, scenario_params):
                                                    opt.apply_ml,
                                                    opt.version,
                                                    town=town,
-                                                   cav_world=cav_world,
-                                                   carla_host=opt.host,
-                                                   carla_port=opt.port)
+                                                   cav_world=cav_world)
 
         single_cav_list = \
             scenario_manager.create_vehicle_manager(application=['single'])
@@ -70,10 +68,6 @@ def run_scenario(opt, scenario_params):
                 control = single_cav.run_step()
                 single_cav.vehicle.apply_control(control)
 
-            for actor in scenario_manager.world.get_actors().filter("*vehicle*"):
-                location = actor.get_location()
-                scenario_manager.world.debug.draw_string(location, str(actor.id), False, carla.Color(200, 200, 0))
-
             step_event.set()
             ms_van3t_manager.carla_object.tick_event.wait()
             ms_van3t_manager.carla_object.tick_event.clear()
diff --git a/opencda/scenario_testing/ms_van3t_example_ml.py b/opencda/scenario_testing/ms_van3t_example_ml.py
index b839d7b82..d3f44b8e4 100644
--- a/opencda/scenario_testing/ms_van3t_example_ml.py
+++ b/opencda/scenario_testing/ms_van3t_example_ml.py
@@ -21,6 +21,7 @@ def run_scenario(opt, scenario_params):
 
         if 'name' in scenario_params['scenario']['town']:
             town = scenario_params['scenario']['town']['name']
+            print('Loading ', town)
         else:
             print('No town name has been specified, please check the yaml file.')
             raise ValueError
@@ -30,15 +31,13 @@ def run_scenario(opt, scenario_params):
                                                    opt.apply_ml,
                                                    opt.version,
                                                    town=town,
-                                                   cav_world=cav_world,
-                                                   carla_host=opt.host,
-                                                   carla_port=opt.port)
+                                                   cav_world=cav_world)
 
         single_cav_list = \
             scenario_manager.create_vehicle_manager(application=['single'])
 
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla(port=opt.tm_port)
+        traffic_manager, bg_veh_list, all_actors = \
+            scenario_manager.create_traffic_carla()
 
         step_event = Event()
         stop_event = Event()
@@ -51,7 +50,7 @@ def run_scenario(opt, scenario_params):
                                      stop_event=stop_event)
 
         spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[3].vehicle
+        spectator_vehicle = single_cav_list[0].vehicle
         transform = spectator_vehicle.get_transform()
         spectator.set_transform(carla.Transform(transform.location +
                                                 carla.Location(z=60),
@@ -67,21 +66,21 @@ def run_scenario(opt, scenario_params):
 
             for i, single_cav in enumerate(single_cav_list):
                 single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-            for actor in scenario_manager.world.get_actors().filter("*vehicle*"):
-                location = actor.get_location()
-                scenario_manager.world.debug.draw_string(location, str(actor.id), False, carla.Color(200, 200, 0))
+                # control = single_cav.run_step()
+                # single_cav.vehicle.apply_control(control)
 
             step_event.set()
             ms_van3t_manager.carla_object.tick_event.wait()
             ms_van3t_manager.carla_object.tick_event.clear()
 
+
     finally:
         stop_event.set() # stop the co-simulation
         step_event.set() # stop the co-simulation
         scenario_manager.close()
         print("Simulation finished.")
+        for i in range(0, len(all_actors), 2):
+            all_actors[i].stop()
+
         for v in single_cav_list:
             v.destroy()
diff --git a/opencda/scenario_testing/ms_van3t_example_ml_auto.py b/opencda/scenario_testing/pedestrian_test.py
similarity index 63%
rename from opencda/scenario_testing/ms_van3t_example_ml_auto.py
rename to opencda/scenario_testing/pedestrian_test.py
index 2b9995aa8..06f6329fa 100644
--- a/opencda/scenario_testing/ms_van3t_example_ml_auto.py
+++ b/opencda/scenario_testing/pedestrian_test.py
@@ -25,64 +25,62 @@ def run_scenario(opt, scenario_params):
             print('No town name has been specified, please check the yaml file.')
             raise ValueError
 
-        # create co-simulation scenario manager
+        # create scenario manager
         scenario_manager = sim_api.ScenarioManager(scenario_params,
                                                    opt.apply_ml,
                                                    opt.version,
                                                    town=town,
-                                                   cav_world=cav_world,
                                                    carla_host=opt.host,
-                                                   carla_port=opt.port)
+                                                   carla_port=opt.port,
+                                                   cav_world=cav_world)
 
+        # create CAVs (vehicles equipped with sensors)
         single_cav_list = \
-            scenario_manager.create_vehicle_manager_auto(application=['single'],
-                                                         port=opt.port)
-
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla(port=opt.tm_port)
-
-        step_event = Event()
-        stop_event = Event()
-        ms_van3t_manager = \
-            MsVan3tCoScenarioManager(scenario_params,
-                                     scenario_manager,
-                                     single_cav_list,
-                                     traffic_manager,
-                                     step_event=step_event,
-                                     stop_event=stop_event)
+            scenario_manager.create_vehicle_manager(application=['single'])
 
+        # create background traffic in carla
+        traffic_manager, bg_veh_list, all_actors = \
+            scenario_manager.create_traffic_carla()
+
+        # get spectactor
         spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[3].vehicle
+        # assign the first CAV as the spectator vehicle
+        spectator_vehicle = single_cav_list[0].vehicle
+        # get the transform of the spectator vehicle
         transform = spectator_vehicle.get_transform()
+        # set the spectator to the top of the spectator vehicle
         spectator.set_transform(carla.Transform(transform.location +
                                                 carla.Location(z=60),
                                                 carla.Rotation(pitch=-90)))
         scenario_manager.tick()
 
-        while True:
+        location = single_cav_list[0].vehicle.get_location()
+        print("CAV spawned location:", location)
 
+        # Simulation loop
+        while True:
+            scenario_manager.tick()
+            # update spectator position
             transform = spectator_vehicle.get_transform()
             spectator.set_transform(carla.Transform(transform.location +
                                                     carla.Location(z=60),
                                                     carla.Rotation(pitch=-90)))
 
             for i, single_cav in enumerate(single_cav_list):
+                # update perception and localization info for CAV
                 single_cav.update_info_LDM()
+                # Vehicle manager set with autopilot --> no control needed
                 # control = single_cav.run_step()
                 # single_cav.vehicle.apply_control(control)
 
-            for actor in scenario_manager.world.get_actors().filter("*vehicle*"):
-                location = actor.get_location()
-                scenario_manager.world.debug.draw_string(location, str(actor.id), False, carla.Color(200, 200, 0))
+    finally:
+        print("Simulation finished.")
+        # for v in single_cav_list:
+        #     v.destroy()
+        for i in range(0, len(all_actors), 2):
+            all_actors[i].stop()
 
-            step_event.set()
-            ms_van3t_manager.carla_object.tick_event.wait()
-            ms_van3t_manager.carla_object.tick_event.clear()
+        print(f'\nDestroying {int(len(all_actors)/2)} walkers and {int(len(single_cav_list))} CAVs')
+        scenario_manager.destroyActors()
 
-    finally:
-        stop_event.set() # stop the co-simulation
-        step_event.set() # stop the co-simulation
         scenario_manager.close()
-        print("Simulation finished.")
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/platoon_joining_2lanefree_carla.py b/opencda/scenario_testing/platoon_joining_2lanefree_carla.py
new file mode 100644
index 000000000..431d867c5
--- /dev/null
+++ b/opencda/scenario_testing/platoon_joining_2lanefree_carla.py
@@ -0,0 +1,102 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: merging vehicle joining a platoon in the
+customized 2-lane freeway simplified map sorely with carla
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import os
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import \
+    add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        # first define the path of the yaml file and 2lanefreemap file
+        scenario_params = add_current_time(scenario_params)
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        xodr_path = os.path.join(
+            current_path,
+            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   xodr_path=xodr_path,
+                                                   carla_host=opt.host,
+                                                   carla_port=opt.port)
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("platoon_joining_2lanefree_carla.log", True)
+
+        # create platoon members
+        platoon_list = \
+            scenario_manager.create_platoon_manager(
+                map_helper=map_api.spawn_helper_2lanefree,
+                data_dump=False)
+
+        # create single cavs
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['platooning'],
+                                                    map_api.
+                                                    spawn_helper_2lanefree)
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_joining_2lanefree_carla',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = platoon_list[0].vehicle_manager_list[1].vehicle
+
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(
+                carla.Transform(
+                    transform.location +
+                    carla.Location(
+                        z=80),
+                    carla.Rotation(
+                        pitch=-
+                        90)))
+            for platoon in platoon_list:
+                platoon.update_information()
+                platoon.run_step()
+
+            for i, single_cav in enumerate(single_cav_list):
+                # this function should be added in wrapper
+                if single_cav.v2x_manager.in_platoon():
+                    single_cav_list.pop(i)
+                else:
+                    single_cav.update_info()
+                    control = single_cav.run_step()
+                    single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for platoon in platoon_list:
+            platoon.destroy()
+        for cav in single_cav_list:
+            cav.destroy()
+        for v in bg_veh_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py b/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
new file mode 100644
index 000000000..8f7034fa8
--- /dev/null
+++ b/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
@@ -0,0 +1,102 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: merging vehicle joining a platoon in the
+customized 2-lane freeway simplified map sorely with co-sim
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # sumo conifg file path
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        xodr_path = os.path.join(current_path,
+                                 '../assets/2lane_freeway_simplified/'
+                                 '2lane_freeway_simplified.xodr')
+        sumo_cfg = os.path.join(current_path,
+                                '../assets/2lane_freeway_simplified')
+
+        # create co-simulation scenario manager
+        scenario_manager = \
+            sim_api.CoScenarioManager(scenario_params,
+                                      opt.apply_ml,
+                                      opt.version,
+                                      xodr_path=xodr_path,
+                                      cav_world=cav_world,
+                                      sumo_file_parent_path=sumo_cfg)
+
+        # create platoon members
+        platoon_list = \
+            scenario_manager.create_platoon_manager(
+                map_helper=map_api.spawn_helper_2lanefree,
+                data_dump=False)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['platooning'],
+                                                    map_helper=map_api.
+                                                    spawn_helper_2lanefree)
+
+        msvan3tAgent = Msvan3tAgent(cav_world,
+                                    cav_list=single_cav_list,
+                                    cosim_manager=scenario_manager,
+                                    platoon_list=platoon_list)
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_cosim',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = platoon_list[0].vehicle_manager_list[1].vehicle
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=80),
+                                                    carla.Rotation(pitch=-90)))
+
+            for platoon in platoon_list:
+                platoon.update_information()
+                platoon.run_step()
+
+            for i, single_cav in enumerate(single_cav_list):
+                if single_cav.v2x_manager.in_platoon():
+                    single_cav_list.pop(i)
+
+                single_cav.update_info_LDM()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+
+        for platoon in platoon_list:
+            platoon.destroy()
+
+        for v in single_cav_list:
+            v.destroy()
+
+        msvan3tAgent.destroy()
diff --git a/opencda/scenario_testing/platoon_joining_town06_carla.py b/opencda/scenario_testing/platoon_joining_town06_carla.py
new file mode 100644
index 000000000..cbc69ee87
--- /dev/null
+++ b/opencda/scenario_testing/platoon_joining_town06_carla.py
@@ -0,0 +1,92 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: merging vehicle joining a platoon in the customized 2-lane
+freeway sorely with carla Warning: You have to load the 2lanefreecomplete
+map into your ue4 editor before running this
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06')
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("platoon_joining_2lanefree_carla.log", True)
+
+        # create platoon members
+        platoon_list = \
+            scenario_manager.create_platoon_manager(
+                data_dump=False)
+
+        # create single cavs
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['platooning'])
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_joining_town06_carla',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = single_cav_list[0].vehicle
+
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(
+                carla.Transform(
+                    transform.location +
+                    carla.Location(
+                        z=80),
+                    carla.Rotation(
+                        pitch=-
+                        90)))
+            for platoon in platoon_list:
+                platoon.update_information()
+                platoon.run_step()
+
+            for i, single_cav in enumerate(single_cav_list):
+                # this function should be added in wrapper
+                if single_cav.v2x_manager.in_platoon():
+                    single_cav_list.pop(i)
+                else:
+                    single_cav.update_info_LDM()
+                    control = single_cav.run_step()
+                    single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for platoon in platoon_list:
+            platoon.destroy()
+        for cav in single_cav_list:
+            cav.destroy()
+        for v in bg_veh_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/platoon_stability_2lanefree_carla.py b/opencda/scenario_testing/platoon_stability_2lanefree_carla.py
new file mode 100644
index 000000000..5dadaa500
--- /dev/null
+++ b/opencda/scenario_testing/platoon_stability_2lanefree_carla.py
@@ -0,0 +1,172 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: merging vehicle joining a platoon in the customized 2-lane
+freeway simplified map sorely with carla
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import sys
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+from opencda.core.common.misc import get_speed
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        xodr_path = os.path.join(
+            current_path,
+            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   xodr_path=xodr_path)
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("single_town06_carla.log", True)
+
+        # create platoon members
+        platoon_list = scenario_manager.create_platoon_manager()
+
+        # create traffic flow if any
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        if len(platoon_list) > 1:
+            sys.exit("In this scenario testing, "
+                     "only single platoon is allowed.")
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = platoon_list[0].vehicle_manager_list[0].vehicle
+
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platon_stability',
+                              current_time=scenario_params['current_time'])
+        # adjusting leader speed
+        leader_speed_profile = \
+            scenario_params['platoon_base']['leader_speeds_profile']
+        stage_duration = scenario_params['platoon_base']['stage_duration']
+
+        test_platoon_manager = platoon_list[0]
+
+        if len(leader_speed_profile) > 1:
+            platoon_speed_adjusting = True
+            time_counter = 0
+            stage = 0
+        else:
+            platoon_speed_adjusting = False
+
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(
+                carla.Transform(
+                    transform.location +
+                    carla.Location(
+                        z=80),
+                    carla.Rotation(
+                        pitch=-
+                        90)))
+
+            test_platoon_manager.update_information()
+            test_platoon_manager.run_step()
+
+            # leader speed change to test the stability of the platoon
+            if platoon_speed_adjusting:
+                leader_speed = get_speed(spectator_vehicle, True) * 3.6
+
+                # stage 0
+                if stage == 0:
+                    print('stage 0, accelrate to %f' % leader_speed_profile[0])
+                    if leader_speed >= (leader_speed_profile[0] - 3):
+                        stage = 1
+                    else:
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[0]
+
+                # stage 1
+                if stage == 1:
+                    print(
+                        'stage 1, speed has keep for %f second' %
+                        (time_counter * 0.05))
+                    if time_counter >= stage_duration / 0.05:
+                        stage = 2
+                        time_counter = 0
+                    else:
+                        time_counter += 1
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[0]
+
+                # stage2: accelerate to next level
+                if stage == 2:
+                    print(
+                        'stage 2, accelerate to %f' %
+                        leader_speed_profile[1])
+                    if leader_speed >= (leader_speed_profile[1] - 3):
+                        stage = 3
+                    else:
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[1]
+
+                # stage3: keep velocity for a fixed duration
+                if stage == 3:
+                    print(
+                        'stage 3, speed has keep for %f second' %
+                        (time_counter * 0.05))
+                    if time_counter >= stage_duration / 0.05:
+                        stage = 4
+                        time_counter = 0
+                    else:
+                        time_counter += 1
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[1]
+
+                # stage4: de-accelerate the velocity back to stage1
+                if stage == 4:
+                    print(
+                        'stage 4, de-accelerate to %f' %
+                        leader_speed_profile[0])
+                    if leader_speed <= (leader_speed_profile[0] + 3):
+                        stage = 5
+                    else:
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[0]
+
+                # stage5: keep the speed for another duration
+                if stage == 5:
+                    print(
+                        'stage5, speed has keep for %f second' %
+                        (time_counter * 0.05))
+                    if time_counter >= stage_duration / 0.05:
+                        break
+                    else:
+                        time_counter += 1
+                        test_platoon_manager.origin_leader_target_speed = \
+                            leader_speed_profile[0]
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for platoon in platoon_list:
+            platoon.destroy()
+
+        for v in bg_veh_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/platoon_test_docker.py b/opencda/scenario_testing/platoon_test_docker.py
new file mode 100644
index 000000000..c80fef44b
--- /dev/null
+++ b/opencda/scenario_testing/platoon_test_docker.py
@@ -0,0 +1,78 @@
+import os
+from datetime import datetime
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+import time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        #  Create log directory
+        date = datetime.now()
+        if opt.pldm:
+            dir_name = date.strftime('/home/OpenCDA/logs/PLDM/log_%d_%m_%H_%M_%S')
+        else:
+            dir_name = date.strftime('/home/OpenCDA/logs/LDM/log_%d_%m_%H_%M_%S')
+        home_dir = os.path.expanduser('~')
+        full_path = os.path.join(home_dir, dir_name)
+        os.mkdir(full_path)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create co-simulation scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   cav_world=cav_world)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['platooning'],
+                                                    pldm=opt.pldm,
+                                                    log_dir=full_path)
+
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_test_town06',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = single_cav_list[0].vehicle
+        last_time = time.time_ns() / 1000000
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+            # print('Tick: ', time.time_ns() / 1000000 - last_time)
+            last_time = time.time_ns() / 1000000
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=80),
+                                                    carla.Rotation(pitch=-90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/platoon_test_town5.py b/opencda/scenario_testing/platoon_test_town5.py
new file mode 100644
index 000000000..4b00cc4d4
--- /dev/null
+++ b/opencda/scenario_testing/platoon_test_town5.py
@@ -0,0 +1,114 @@
+import os
+from datetime import datetime
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+import time
+from opencda.scenario_testing.utils.load_dashboard import LoadDashboard
+import random
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create co-simulation scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town05',
+                                                   cav_world=cav_world)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['platooning'],
+                                                    pldm=opt.pldm)
+
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_test_town06',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = single_cav_list[0].vehicle
+        last_time = time.time_ns() / 1000000
+
+        transform = spectator_vehicle.get_transform()
+        spectator.set_transform(carla.Transform(transform.location +
+                                                carla.Location(z=20),
+                                                carla.Rotation(pitch=-45)))
+
+        # load_dashboard = LoadDashboard(single_cav_list)
+
+        # ped_blueprints = scenario_manager.world.get_blueprint_library().filter("walker.*")
+        # player = scenario_manager.world.spawn_actor(random.choice(ped_blueprints),
+        #                                             carla.Transform(carla.Location(x=-65, y=-22, z=0),
+        #                                                             carla.Rotation(pitch=0)))
+        # transform = player.get_transform()
+        # spectator.set_transform(carla.Transform(transform.location +
+        #                                         carla.Location(z=20),
+        #                                         carla.Rotation(pitch=-90)))
+        # player_control = carla.WalkerControl()
+        # player_control.speed = 3
+        # pedestrian_heading = 90
+        # player_rotation = carla.Rotation(0, pedestrian_heading, 0)
+        # player_control.direction = player_rotation.get_forward_vector()
+        # player.apply_control(player_control)
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+            # print('Tick: ', time.time_ns() / 1000000 - last_time)
+            last_time = time.time_ns() / 1000000
+            transform = spectator_vehicle.get_transform()
+            transform.location.x += 15
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=80),
+                                                    carla.Rotation(pitch=-90)))
+            states = []
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                if single_cav.PLDM is not None:
+                    states.append(computeCostPLDM(single_cav.PLDM, single_cav.vehicle.id) + single_cav.agent.control_cost)
+                elif single_cav.LDM is not None and not single_cav.intruder:
+                    states.append(computeCostLDM(single_cav.LDM)+single_cav.agent.control_cost)
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+            # load_dashboard.states = states
+            time.sleep(0.05)
+
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+
+def computeCostLDM(LDM):
+    POs = LDM.getAllPOs()
+    cost = 0
+    for PO in POs:
+        cost += 1 + len(PO.perceivedBy) * 1
+    return cost
+def computeCostPLDM(LDM, id):
+    POs = LDM.getAllPOs()
+    cost = 0
+    for PO in POs:
+        cost += 1
+        if PO.assignedPM == id:
+            cost += len(PO.perceivedBy) * 1
+    return cost
+def run_dashboard():
+    LoadDashboard()
\ No newline at end of file
diff --git a/opencda/scenario_testing/platoon_test_town6.py b/opencda/scenario_testing/platoon_test_town6.py
new file mode 100644
index 000000000..9a9b21511
--- /dev/null
+++ b/opencda/scenario_testing/platoon_test_town6.py
@@ -0,0 +1,109 @@
+import os
+from datetime import datetime
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+import time
+from opencda.scenario_testing.utils.load_dashboard import LoadDashboard
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        #  Create log directory
+        date = datetime.now()
+        if opt.pldm:
+            dir_name = date.strftime('logs/logsPLDM/log_%d_%m_%H_%M_%S')
+        else:
+            dir_name = date.strftime('logs/logsLDM/log_%d_%m_%H_%M_%S')
+        home_dir = os.path.expanduser('~')
+        full_path = os.path.join(home_dir, dir_name)
+        os.mkdir(full_path)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create co-simulation scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   cav_world=cav_world)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['platooning'],
+                                                    pldm=opt.pldm,
+                                                    log_dir=full_path)
+
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_test_town06',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = single_cav_list[2].vehicle
+        last_time = time.time_ns() / 1000000
+
+        transform = spectator_vehicle.get_transform()
+        spectator.set_transform(carla.Transform(transform.location +
+                                                carla.Location(z=30),
+                                                carla.Rotation(pitch=-45)))
+
+        # load_dashboard = LoadDashboard(single_cav_list)
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+            # print('Tick: ', time.time_ns() / 1000000 - last_time)
+            last_time = time.time_ns() / 1000000
+            transform = spectator_vehicle.get_transform()
+            transform.location.x += 15
+            # spectator.set_transform(carla.Transform(transform.location +
+            #                                         carla.Location(z=80),
+            #                                         carla.Rotation(pitch=-90)))
+            states = []
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                if single_cav.PLDM is not None:
+                    states.append(computeCostPLDM(single_cav.PLDM, single_cav.vehicle.id) + single_cav.agent.control_cost)
+                elif single_cav.LDM is not None and not single_cav.intruder:
+                    states.append(computeCostLDM(single_cav.LDM)+single_cav.agent.control_cost)
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+            # load_dashboard.states = states
+
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+
+def computeCostLDM(LDM):
+    POs = LDM.getAllPOs()
+    cost = 0
+    for PO in POs:
+        cost += 1 + len(PO.perceivedBy) * 1
+    return cost
+def computeCostPLDM(LDM, id):
+    POs = LDM.getAllPOs()
+    cost = 0
+    for PO in POs:
+        cost += 1
+        if PO.assignedPM == id:
+            cost += len(PO.perceivedBy) * 1
+    return cost
+def run_dashboard():
+    LoadDashboard()
\ No newline at end of file
diff --git a/opencda/scenario_testing/single_2lanefree_carla.py b/opencda/scenario_testing/single_2lanefree_carla.py
new file mode 100644
index 000000000..5b485317b
--- /dev/null
+++ b/opencda/scenario_testing/single_2lanefree_carla.py
@@ -0,0 +1,87 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: Single vehicle dring in the customized 2 lane highway map.
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import \
+    add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        xodr_path = os.path.join(
+            current_path,
+            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   xodr_path=xodr_path,
+                                                   cav_world=cav_world)
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("single_2lanefree_carla.log", True)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'],
+                                                    map_helper=map_api.
+                                                    spawn_helper_2lanefree)
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_carla',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(
+                transform.location +
+                carla.Location(
+                    z=70),
+                carla.Rotation(
+                    pitch=-
+                    90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+        for v in bg_veh_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/single_2lanefree_cosim.py b/opencda/scenario_testing/single_2lanefree_cosim.py
new file mode 100644
index 000000000..5d4221a59
--- /dev/null
+++ b/opencda/scenario_testing/single_2lanefree_cosim.py
@@ -0,0 +1,76 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: Single vehicle dring in the customized 2 lane highway map
+with cosimulation.
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # sumo conifg file path
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        xodr_path = os.path.join(current_path,
+                                 '../assets/2lane_freeway_simplified/'
+                                 '2lane_freeway_simplified.xodr')
+        sumo_cfg = os.path.join(current_path,
+                                '../assets/2lane_freeway_simplified')
+
+        # create co-simulation scenario manager
+        scenario_manager = \
+            sim_api.CoScenarioManager(scenario_params,
+                                      opt.apply_ml,
+                                      opt.version,
+                                      xodr_path=xodr_path,
+                                      cav_world=cav_world,
+                                      sumo_file_parent_path=sumo_cfg)
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'],
+                                                    map_helper=map_api.
+                                                    spawn_helper_2lanefree)
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_cosim',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=50),
+                                                    carla.Rotation(pitch=-90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+        for v in single_cav_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/single_intersection_town06_carla.py b/opencda/scenario_testing/single_intersection_town06_carla.py
new file mode 100644
index 000000000..f64f09340
--- /dev/null
+++ b/opencda/scenario_testing/single_intersection_town06_carla.py
@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: single vehicle behavior in intersection
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   cav_world=cav_world)
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("single_town06_carla.log", True)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'])
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_intersection_town06_carla',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(
+                transform.location +
+                carla.Location(
+                    z=50),
+                carla.Rotation(
+                    pitch=-
+                    90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+        for v in bg_veh_list:
+            v.destroy()
+
diff --git a/opencda/scenario_testing/single_town05_cosim.py b/opencda/scenario_testing/single_town05_cosim.py
new file mode 100644
index 000000000..d08d4c49d
--- /dev/null
+++ b/opencda/scenario_testing/single_town05_cosim.py
@@ -0,0 +1,68 @@
+# -*- coding: utf-8 -*-
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # sumo conifg file path
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        sumo_cfg = os.path.join(current_path,
+                                '../assets/Town05')
+
+        # create co-simulation scenario manager
+        scenario_manager = \
+            sim_api.CoScenarioManager(scenario_params,
+                                      opt.apply_ml,
+                                      opt.version,
+                                      town='Town05',
+                                      cav_world=cav_world,
+                                      sumo_file_parent_path=sumo_cfg)
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'],
+                                                    map_helper=map_api.
+                                                    spawn_helper_2lanefree)
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_cosim',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=50),
+                                                    carla.Rotation(pitch=-90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+        for v in single_cav_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/single_town06_carla.py b/opencda/scenario_testing/single_town06_carla.py
new file mode 100644
index 000000000..6cf52247f
--- /dev/null
+++ b/opencda/scenario_testing/single_town06_carla.py
@@ -0,0 +1,80 @@
+# -*- coding: utf-8 -*-
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+
+
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   carla_host=opt.host,
+                                                   carla_port=opt.port,
+                                                   cav_world=cav_world)
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("single_town06_carla.log", True)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'])
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_carla',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        # run steps
+        while True:
+            scenario_manager.tick()
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(
+                transform.location +
+                carla.Location(
+                    z=50),
+                carla.Rotation(
+                    pitch=-
+                    90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+        for v in bg_veh_list:
+            v.destroy()
+
diff --git a/opencda/scenario_testing/single_town06_cosim.py b/opencda/scenario_testing/single_town06_cosim.py
new file mode 100644
index 000000000..51f2e2deb
--- /dev/null
+++ b/opencda/scenario_testing/single_town06_cosim.py
@@ -0,0 +1,73 @@
+# -*- coding: utf-8 -*-
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # sumo conifg file path
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        sumo_cfg = os.path.join(current_path,
+                                '../assets/Town06')
+
+        # create co-simulation scenario manager
+        scenario_manager = \
+            sim_api.CoScenarioManager(scenario_params,
+                                      opt.apply_ml,
+                                      opt.version,
+                                      town='Town06',
+                                      cav_world=cav_world,
+                                      sumo_file_parent_path=sumo_cfg)
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'],
+                                                    map_helper=map_api.
+                                                    spawn_helper_2lanefree)
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='single_2lanefree_cosim',
+                              current_time=scenario_params['current_time'])
+
+        msvan3tAgent = Msvan3tAgent(cav_world,
+                                    cav_list=single_cav_list,
+                                    cosim_manager=scenario_manager)
+
+        spectator = scenario_manager.world.get_spectator()
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=50),
+                                                    carla.Rotation(pitch=-90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+        for v in single_cav_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/tracking_test.py b/opencda/scenario_testing/tracking_test.py
new file mode 100644
index 000000000..4784ad06e
--- /dev/null
+++ b/opencda/scenario_testing/tracking_test.py
@@ -0,0 +1,67 @@
+import os
+from datetime import datetime
+import carla
+
+import opencda.scenario_testing.utils.cosim_api as sim_api
+import opencda.scenario_testing.utils.customized_map_api as map_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time
+from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
+import time
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create co-simulation scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   cav_world=cav_world)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(['single'],
+                                                    pldm=opt.pldm)
+
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='platoon_test_town06',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+        spectator_vehicle = single_cav_list[0].vehicle
+        last_time = time.time_ns() / 1000000
+
+        while True:
+            # simulation tick
+            scenario_manager.tick()
+            # print('Tick: ', time.time_ns() / 1000000 - last_time)
+            last_time = time.time_ns() / 1000000
+            transform = spectator_vehicle.get_transform()
+            spectator.set_transform(carla.Transform(transform.location +
+                                                    carla.Location(z=80),
+                                                    carla.Rotation(pitch=-90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info_LDM()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+
+    finally:
+        eval_manager.evaluate()
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
diff --git a/opencda/scenario_testing/utils/ms_van3t_cosim_api.py b/opencda/scenario_testing/utils/ms_van3t_cosim_api.py
index aa7b384b4..7ead85720 100644
--- a/opencda/scenario_testing/utils/ms_van3t_cosim_api.py
+++ b/opencda/scenario_testing/utils/ms_van3t_cosim_api.py
@@ -88,13 +88,77 @@ def ExecuteOneTimeStep(self, request, context):
         self.steps += 1
         return carla_pb2.Boolean(value=True)
 
-    def GetManagedActorsIds(self, request, context):
+    def GetManagedActorsIds(self, request, context): # return only vehicle id # GetManagedHostIds()
         self.world.get_actors()
         actor_list = self.world.get_actors()
         vehicles = actor_list.filter('vehicle.*')
         returnValue = carla_pb2.ActorIds()
         for vehicle in vehicles:
-            returnValue.actorId.append(vehicle.id)
+            if not ('bicycle' in vehicle.type_id or 'motorcycle' in vehicle.type_id):
+                returnValue.actorId.append(vehicle.id)
+        return returnValue
+
+    def GetAllActorsIds(self, request, context):  # return vehicle and pedestrian id
+        self.world.get_actors()
+        actor_list = self.world.get_actors()
+        returnValue = carla_pb2.ActorIds()
+        for actor in actor_list:
+            if 'vehicle' in actor.type_id or 'pedestrian' in actor.type_id:
+                returnValue.actorId.append(actor.id)
+        return returnValue
+
+    def GetActorById(self, request, context):
+        actor_list = self.world.get_actors()
+        actor = actor_list.find(request.num)
+        aLocation = actor.get_location()
+        aSpeed = actor.get_velocity()
+        aAcceleration = actor.get_acceleration()
+        returnValue = carla_pb2.Actor()
+        returnValue.id = request.num
+        returnValue.location.x = aLocation.x
+        returnValue.location.y = aLocation.y
+        returnValue.location.z = aLocation.z
+        returnValue.speed.x = aSpeed.x
+        returnValue.speed.y = aSpeed.y
+        returnValue.speed.z = aSpeed.z
+
+        geoPos = self.world.get_map().transform_to_geolocation(aLocation)
+        returnValue.latitude = geoPos.latitude
+        returnValue.longitude = geoPos.longitude
+        returnValue.length = actor.bounding_box.extent.x * 2
+        returnValue.width = actor.bounding_box.extent.y * 2
+
+        if 'vehicle' in actor.type_id:
+            returnValue.lane = abs(self.world.get_map().get_waypoint(aLocation).lane_id)
+            returnValue.heading = actor.get_transform().rotation.yaw
+            returnValue.transform.location.x = actor.get_transform().location.x
+            returnValue.transform.location.y = actor.get_transform().location.y
+            returnValue.transform.location.z = actor.get_transform().location.z
+            returnValue.transform.rotation.pitch = actor.get_transform().rotation.pitch
+            returnValue.transform.rotation.yaw = actor.get_transform().rotation.yaw
+            returnValue.transform.rotation.roll = actor.get_transform().rotation.roll
+            if 'bike' in actor.type_id:
+                returnValue.itsType = 1
+            elif 'harley' in actor.type_id:
+                returnValue.itsType = 3
+            else:
+                returnValue.itsType = 2
+
+        elif 'pedestrian' in actor.type_id:
+            returnValue.lane = 0
+            returnValue.heading = actor.get_transform().rotation.yaw
+            if actor.get_transform().rotation.yaw < 0:
+                returnValue.heading += 360
+            elif actor.get_transform().rotation.yaw > 360:
+                returnValue.heading -= 360
+            returnValue.transform.location.x = actor.get_transform().location.x
+            returnValue.transform.location.y = actor.get_transform().location.y
+            returnValue.transform.location.z = actor.get_transform().location.z
+            returnValue.transform.rotation.pitch = 0
+            returnValue.transform.rotation.yaw = returnValue.heading
+            returnValue.transform.rotation.roll = 0
+            returnValue.itsType = 0
+
         return returnValue
 
     def GetManagedActorById(self, request, context):
@@ -123,8 +187,16 @@ def GetManagedActorById(self, request, context):
         returnValue.width = actor.bounding_box.extent.y * 2
         # print("bounding box: " + str(actor.bounding_box.extent.x) + ", " + str(actor.bounding_box.extent.y))
         # I take abs of lane_id https://github.com/carla-simulator/carla/issues/1469
-        returnValue.lane = abs(self.world.get_map().get_waypoint(aLocation).lane_id)
-        returnValue.heading = actor.get_transform().rotation.yaw
+        if 'vehicle' in actor.type_id:
+            returnValue.lane = abs(self.world.get_map().get_waypoint(aLocation).lane_id)
+            returnValue.heading = actor.get_transform().rotation.yaw
+        elif 'pedestrian' in actor.type_id:
+            returnValue.lane = 0
+            returnValue.heading = actor.get_transform().rotation.yaw
+            if actor.get_transform().rotation.yaw < 0:
+                returnValue.heading += 360
+            elif actor.get_transform().rotation.yaw > 360:
+                returnValue.heading -= 360
         # This is redundant, but for CARLA compliance
         returnValue.transform.location.x = actor.get_transform().location.x
         returnValue.transform.location.y = actor.get_transform().location.y
@@ -284,7 +356,8 @@ def GetActorLDM(self, request, context):
                     ego_pos, ego_spd, objects = cav.getInfo()
                     returnValue = carla_pb2.Objects()
                     for PO in cav.LDM.getAllPOs():
-                        if (not PO.connected and PO.tracked and PO.onSight) or PO.CPM:
+                        # if (PO.detected and PO.onSight) or PO.CPM or PO.VAM:
+                        if (PO.detected and PO.tracked and PO.onSight) or PO.CPM or PO.VAM:
                             object = carla_pb2.Object()
                             object.id = PO.id
                             if PO.CPM and len(PO.perceivedBy) == 0:
@@ -294,34 +367,62 @@ def GetActorLDM(self, request, context):
                             object.speed.x = PO.perception.xSpeed
                             object.speed.y = PO.perception.ySpeed
                             object.speed.z = 0
+                            if 70 < PO.id < 80:
+                                print(f"Actor {PO.id} - speed x = {PO.perception.xSpeed}, y = {PO.perception.ySpeed}")
                             object.acceleration.x = PO.perception.xacc
                             object.acceleration.y = PO.perception.yacc
                             object.acceleration.z = 0
-                            object.width = PO.perception.width
                             object.length = PO.perception.length
+                            object.width = PO.perception.width
                             object.onSight = PO.onSight
                             object.tracked = PO.tracked
                             object.timestamp = int(1000 * (PO.getLatestPoint().timestamp - self.time_offset))
                             object.confidence = PO.perception.confidence
-                            if PO.perception.yaw < 0:
-                                object.yaw = PO.perception.yaw + 360
-                            else:
-                                object.yaw = PO.perception.yaw
-
-                            curr_wpt = self.world.get_map().get_waypoint(carla.Location(x=PO.perception.xPosition, y=PO.perception.yPosition, z=0.0))
+                            # if PO.perception.yaw < 0:
+                            #     object.yaw = PO.perception.yaw + 360
+                            # else:
+                            #     object.yaw = PO.perception.yaw
+                            # get_waypoint DOES NOT WORK FOR PEDESTRIANS
+                            if any(x in PO.perception.itsType for x in ('vehicle', 'bicycle', 'motorcycle')):
+                                curr_wpt = self.world.get_map().get_waypoint(carla.Location(x=PO.perception.xPosition, y=PO.perception.yPosition, z=0.0))
+                                object.yaw = curr_wpt.transform.rotation.yaw
+                            elif PO.perception.itsType == 'pedestrian':
+                                try:
+                                    curr_wpt = self.world.get_actors().find(object.id).get_transform()
+                                    object.yaw = curr_wpt.rotation.yaw
+                                except AttributeError:
+                                    print(f"Error: Actor with ID {object.id} not found in the CARLA world.")
+                                    continue
+                                    curr_wpt = None  # Or assign a default value, raise another exception, etc.
+                                    object.yaw = 0
                             # TODO: this is a workaround, the yaw should be the one from the perception, but pose estimation is not reliable
-                            object.yaw = curr_wpt.transform.rotation.yaw
+                            if object.yaw < 0:
+                                object.yaw += 360
+                            if object.yaw > 360:
+                                object.yaw -= 360
                             object.transform.location.x = PO.perception.xPosition
                             object.transform.location.y = PO.perception.yPosition
                             object.transform.location.z = 0
                             object.transform.rotation.pitch = 0
                             object.transform.rotation.yaw = PO.perception.yaw
                             object.transform.rotation.roll = 0
-                            object.detected = not PO.connected
+                            object.detected = PO.detected
                             if len(PO.perceivedBy) > 0:
                                 object.perceivedBy = PO.perceivedBy[0]
                             else:
                                 object.perceivedBy = -1
+                            if PO.perception.itsType == 'vehicle':
+                                object.itsType = 2
+                            elif PO.perception.itsType == 'pedestrian':
+                                object.itsType = 0
+                            elif PO.perception.itsType == 'bicycle':
+                                object.itsType = 1
+                            elif PO.perception.itsType == 'motorcycle':
+                                object.itsType = 3
+                            elif PO.perception.itsType == 'unknown':
+                                object.itsType = 4
+                            object.VAM = PO.VAM
+
                             returnValue.objects.append(object)
                     return returnValue
 
@@ -430,11 +531,20 @@ def InsertObject(self, request, context):
                 newPO.heading = request.object.yaw
                 newPO.yaw = request.object.yaw
                 newPO.id = request.object.id
+                if (request.object.itsType == 2):
+                    newPO.itsType = "vehicle"
+                if (request.object.itsType == 0):
+                    newPO.itsType = "pedestrian"
+                if (request.object.itsType == 1):
+                    newPO.itsType = "bicycle"
+                if (request.object.itsType == 3):
+                    newPO.itsType = "motorcycle"
                 toInsert = [newPO]
                 cav.ldm_mutex.acquire()
-                if request.object.detected:
+                if request.object.VAM:
+                    cav.LDM.VAMfusion(newPO)
+                elif request.object.detected:
                     cav.LDM.CPMfusion(toInsert, request.fromId)
-
                 else:
                     cav.LDM.CAMfusion(newPO)
                 cav.ldm_mutex.release()
diff --git a/opencda/scenario_testing/utils/proto/carla_pb2.py b/opencda/scenario_testing/utils/proto/carla_pb2.py
index 3e93a461a..dd9b18351 100644
--- a/opencda/scenario_testing/utils/proto/carla_pb2.py
+++ b/opencda/scenario_testing/utils/proto/carla_pb2.py
@@ -15,7 +15,7 @@
 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0b\x63\x61rla.proto\x12\x05\x63\x61rla\x1a\x1bgoogle/protobuf/empty.proto\"\x1b\n\x08\x41\x63torIds\x12\x0f\n\x07\x61\x63torId\x18\x01 \x03(\x05\"\x15\n\x06Number\x12\x0b\n\x03num\x18\x01 \x01(\x05\"\x81\x02\n\x07Vehicle\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x1c\n\x05speed\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12#\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\r.carla.Vector\x12\x1f\n\x08location\x18\x04 \x01(\x0b\x32\r.carla.Vector\x12\x10\n\x08latitude\x18\x05 \x01(\x01\x12\x11\n\tlongitude\x18\x06 \x01(\x01\x12\x0e\n\x06length\x18\x07 \x01(\x01\x12\r\n\x05width\x18\x08 \x01(\x01\x12\x0c\n\x04lane\x18\t \x01(\x05\x12\x0f\n\x07heading\x18\n \x01(\x01\x12#\n\ttransform\x18\x0b \x01(\x0b\x32\x10.carla.Transform\")\n\x06Vector\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"4\n\x08Rotation\x12\r\n\x05pitch\x18\x01 \x01(\x01\x12\x0b\n\x03yaw\x18\x02 \x01(\x01\x12\x0c\n\x04roll\x18\x03 \x01(\x01\"O\n\tTransform\x12\x1f\n\x08location\x18\x01 \x01(\x0b\x32\r.carla.Vector\x12!\n\x08rotation\x18\x02 \x01(\x0b\x32\x0f.carla.Rotation\"\xb0\x02\n\x06Object\x12\n\n\x02id\x18\x01 \x01(\x05\x12\n\n\x02\x64x\x18\x02 \x01(\x01\x12\n\n\x02\x64y\x18\x03 \x01(\x01\x12\x1c\n\x05speed\x18\x04 \x01(\x0b\x32\r.carla.Vector\x12#\n\x0c\x61\x63\x63\x65leration\x18\x05 \x01(\x0b\x32\r.carla.Vector\x12\x0e\n\x06length\x18\x06 \x01(\x01\x12\r\n\x05width\x18\x07 \x01(\x01\x12\x0f\n\x07onSight\x18\x08 \x01(\x08\x12\x0f\n\x07tracked\x18\t \x01(\x08\x12\x11\n\ttimestamp\x18\n \x01(\x05\x12\x12\n\nconfidence\x18\x0b \x01(\x01\x12\x0b\n\x03yaw\x18\x0c \x01(\x01\x12#\n\ttransform\x18\r \x01(\x0b\x32\x10.carla.Transform\x12\x10\n\x08\x64\x65tected\x18\x0e \x01(\x08\x12\x13\n\x0bperceivedBy\x18\x0f \x01(\x05\")\n\x07Objects\x12\x1e\n\x07objects\x18\x01 \x03(\x0b\x32\r.carla.Object\"\x18\n\x07\x42oolean\x12\r\n\x05value\x18\x01 \x01(\x08\"M\n\tObjectsIn\x12!\n\ncpmObjects\x18\x01 \x03(\x0b\x32\r.carla.Object\x12\r\n\x05\x65goId\x18\x02 \x01(\x05\x12\x0e\n\x06\x66romId\x18\x03 \x01(\x05\"H\n\x08ObjectIn\x12\x1d\n\x06object\x18\x01 \x01(\x0b\x32\r.carla.Object\x12\r\n\x05\x65goId\x18\x02 \x01(\x05\x12\x0e\n\x06\x66romId\x18\x03 \x01(\x05\"[\n\x07\x43ontrol\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x1f\n\x08waypoint\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12\r\n\x05speed\x18\x03 \x01(\x01\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x04 \x01(\x01\"\xd7\x01\n\x08Waypoint\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12!\n\x08rotation\x18\x03 \x01(\x0b\x32\x0f.carla.Rotation\x12\x0f\n\x07road_id\x18\x04 \x01(\x05\x12\x12\n\nsection_id\x18\x05 \x01(\x05\x12\x13\n\x0bis_junction\x18\x06 \x01(\x08\x12\x13\n\x0bjunction_id\x18\x07 \x01(\x05\x12\x0f\n\x07lane_id\x18\x08 \x01(\x05\x12\x12\n\nlane_width\x18\t \x01(\x01\x12\x13\n\x0blane_change\x18\n \x01(\x05\"_\n\rObjectMinimal\x12\n\n\x02id\x18\x01 \x01(\x05\x12#\n\ttransform\x18\x02 \x01(\x0b\x32\x10.carla.Transform\x12\x0e\n\x06length\x18\x03 \x01(\x01\x12\r\n\x05width\x18\x04 \x01(\x01\"\x1c\n\x0b\x44oubleValue\x12\r\n\x05value\x18\x01 \x01(\x01\x32\xcd\x07\n\x0c\x43\x61rlaAdapter\x12<\n\x12\x45xecuteOneTimeStep\x12\x16.google.protobuf.Empty\x1a\x0e.carla.Boolean\x12\x38\n\x06\x46inish\x12\x16.google.protobuf.Empty\x1a\x16.google.protobuf.Empty\x12>\n\x13GetManagedActorsIds\x12\x16.google.protobuf.Empty\x1a\x0f.carla.ActorIds\x12<\n\x11GetManagedCAVsIds\x12\x16.google.protobuf.Empty\x1a\x0f.carla.ActorIds\x12\x34\n\x13GetManagedActorById\x12\r.carla.Number\x1a\x0e.carla.Vehicle\x12.\n\rInsertVehicle\x12\x0e.carla.Vehicle\x1a\r.carla.Number\x12?\n\x13GetRandomSpawnPoint\x12\x16.google.protobuf.Empty\x1a\x10.carla.Transform\x12,\n\x0bGetActorLDM\x12\r.carla.Number\x1a\x0e.carla.Objects\x12.\n\x0cInsertObject\x12\x0f.carla.ObjectIn\x1a\r.carla.Number\x12\x35\n\rInsertObjects\x12\x10.carla.ObjectsIn\x1a\x12.carla.DoubleValue\x12/\n\x08InsertCV\x12\x0f.carla.ObjectIn\x1a\x12.carla.DoubleValue\x12,\n\x0cGetCartesian\x12\r.carla.Vector\x1a\r.carla.Vector\x12&\n\x06GetGeo\x12\r.carla.Vector\x1a\r.carla.Vector\x12\'\n\x06hasLDM\x12\r.carla.Number\x1a\x0e.carla.Boolean\x12\x34\n\nSetControl\x12\x0e.carla.Control\x1a\x16.google.protobuf.Empty\x12\x32\n\x10GetCarlaWaypoint\x12\r.carla.Vector\x1a\x0f.carla.Waypoint\x12\x36\n\x14GetNextCarlaWaypoint\x12\r.carla.Vector\x1a\x0f.carla.Waypoint\x12\x39\n\rGetGTaccuracy\x12\x14.carla.ObjectMinimal\x1a\x12.carla.DoubleValueb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0b\x63\x61rla.proto\x12\x05\x63\x61rla\x1a\x1bgoogle/protobuf/empty.proto\"\x1b\n\x08\x41\x63torIds\x12\x0f\n\x07\x61\x63torId\x18\x01 \x03(\x05\"\x15\n\x06Number\x12\x0b\n\x03num\x18\x01 \x01(\x05\"\xeb\x01\n\x05\x41\x63tor\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12\x1c\n\x05speed\x18\x03 \x01(\x0b\x32\r.carla.Vector\x12\x10\n\x08latitude\x18\x04 \x01(\x01\x12\x11\n\tlongitude\x18\x05 \x01(\x01\x12\x0e\n\x06length\x18\x06 \x01(\x01\x12\r\n\x05width\x18\x07 \x01(\x01\x12\x0c\n\x04lane\x18\x08 \x01(\x05\x12\x0f\n\x07heading\x18\t \x01(\x01\x12#\n\ttransform\x18\n \x01(\x0b\x32\x10.carla.Transform\x12\x0f\n\x07itsType\x18\x0b \x01(\x05\"\x81\x02\n\x07Vehicle\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x1c\n\x05speed\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12#\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\r.carla.Vector\x12\x1f\n\x08location\x18\x04 \x01(\x0b\x32\r.carla.Vector\x12\x10\n\x08latitude\x18\x05 \x01(\x01\x12\x11\n\tlongitude\x18\x06 \x01(\x01\x12\x0e\n\x06length\x18\x07 \x01(\x01\x12\r\n\x05width\x18\x08 \x01(\x01\x12\x0c\n\x04lane\x18\t \x01(\x05\x12\x0f\n\x07heading\x18\n \x01(\x01\x12#\n\ttransform\x18\x0b \x01(\x0b\x32\x10.carla.Transform\")\n\x06Vector\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"4\n\x08Rotation\x12\r\n\x05pitch\x18\x01 \x01(\x01\x12\x0b\n\x03yaw\x18\x02 \x01(\x01\x12\x0c\n\x04roll\x18\x03 \x01(\x01\"O\n\tTransform\x12\x1f\n\x08location\x18\x01 \x01(\x0b\x32\r.carla.Vector\x12!\n\x08rotation\x18\x02 \x01(\x0b\x32\x0f.carla.Rotation\"\xce\x02\n\x06Object\x12\n\n\x02id\x18\x01 \x01(\x05\x12\n\n\x02\x64x\x18\x02 \x01(\x01\x12\n\n\x02\x64y\x18\x03 \x01(\x01\x12\x1c\n\x05speed\x18\x04 \x01(\x0b\x32\r.carla.Vector\x12#\n\x0c\x61\x63\x63\x65leration\x18\x05 \x01(\x0b\x32\r.carla.Vector\x12\x0e\n\x06length\x18\x06 \x01(\x01\x12\r\n\x05width\x18\x07 \x01(\x01\x12\x0f\n\x07onSight\x18\x08 \x01(\x08\x12\x0f\n\x07tracked\x18\t \x01(\x08\x12\x11\n\ttimestamp\x18\n \x01(\x05\x12\x12\n\nconfidence\x18\x0b \x01(\x01\x12\x0b\n\x03yaw\x18\x0c \x01(\x01\x12#\n\ttransform\x18\r \x01(\x0b\x32\x10.carla.Transform\x12\x10\n\x08\x64\x65tected\x18\x0e \x01(\x08\x12\x13\n\x0bperceivedBy\x18\x0f \x01(\x05\x12\x0f\n\x07itsType\x18\x10 \x01(\x05\x12\x0b\n\x03VAM\x18\x11 \x01(\x08\")\n\x07Objects\x12\x1e\n\x07objects\x18\x01 \x03(\x0b\x32\r.carla.Object\"\x18\n\x07\x42oolean\x12\r\n\x05value\x18\x01 \x01(\x08\"M\n\tObjectsIn\x12!\n\ncpmObjects\x18\x01 \x03(\x0b\x32\r.carla.Object\x12\r\n\x05\x65goId\x18\x02 \x01(\x05\x12\x0e\n\x06\x66romId\x18\x03 \x01(\x05\"H\n\x08ObjectIn\x12\x1d\n\x06object\x18\x01 \x01(\x0b\x32\r.carla.Object\x12\r\n\x05\x65goId\x18\x02 \x01(\x05\x12\x0e\n\x06\x66romId\x18\x03 \x01(\x05\"[\n\x07\x43ontrol\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x1f\n\x08waypoint\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12\r\n\x05speed\x18\x03 \x01(\x01\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x04 \x01(\x01\"\xd7\x01\n\x08Waypoint\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.carla.Vector\x12!\n\x08rotation\x18\x03 \x01(\x0b\x32\x0f.carla.Rotation\x12\x0f\n\x07road_id\x18\x04 \x01(\x05\x12\x12\n\nsection_id\x18\x05 \x01(\x05\x12\x13\n\x0bis_junction\x18\x06 \x01(\x08\x12\x13\n\x0bjunction_id\x18\x07 \x01(\x05\x12\x0f\n\x07lane_id\x18\x08 \x01(\x05\x12\x12\n\nlane_width\x18\t \x01(\x01\x12\x13\n\x0blane_change\x18\n \x01(\x05\"_\n\rObjectMinimal\x12\n\n\x02id\x18\x01 \x01(\x05\x12#\n\ttransform\x18\x02 \x01(\x0b\x32\x10.carla.Transform\x12\x0e\n\x06length\x18\x03 \x01(\x01\x12\r\n\x05width\x18\x04 \x01(\x01\"\x1c\n\x0b\x44oubleValue\x12\r\n\x05value\x18\x01 \x01(\x01\x32\xb6\x08\n\x0c\x43\x61rlaAdapter\x12<\n\x12\x45xecuteOneTimeStep\x12\x16.google.protobuf.Empty\x1a\x0e.carla.Boolean\x12\x38\n\x06\x46inish\x12\x16.google.protobuf.Empty\x1a\x16.google.protobuf.Empty\x12>\n\x13GetManagedActorsIds\x12\x16.google.protobuf.Empty\x1a\x0f.carla.ActorIds\x12<\n\x11GetManagedCAVsIds\x12\x16.google.protobuf.Empty\x1a\x0f.carla.ActorIds\x12\x34\n\x13GetManagedActorById\x12\r.carla.Number\x1a\x0e.carla.Vehicle\x12:\n\x0fGetAllActorsIds\x12\x16.google.protobuf.Empty\x1a\x0f.carla.ActorIds\x12+\n\x0cGetActorById\x12\r.carla.Number\x1a\x0c.carla.Actor\x12.\n\rInsertVehicle\x12\x0e.carla.Vehicle\x1a\r.carla.Number\x12?\n\x13GetRandomSpawnPoint\x12\x16.google.protobuf.Empty\x1a\x10.carla.Transform\x12,\n\x0bGetActorLDM\x12\r.carla.Number\x1a\x0e.carla.Objects\x12.\n\x0cInsertObject\x12\x0f.carla.ObjectIn\x1a\r.carla.Number\x12\x35\n\rInsertObjects\x12\x10.carla.ObjectsIn\x1a\x12.carla.DoubleValue\x12/\n\x08InsertCV\x12\x0f.carla.ObjectIn\x1a\x12.carla.DoubleValue\x12,\n\x0cGetCartesian\x12\r.carla.Vector\x1a\r.carla.Vector\x12&\n\x06GetGeo\x12\r.carla.Vector\x1a\r.carla.Vector\x12\'\n\x06hasLDM\x12\r.carla.Number\x1a\x0e.carla.Boolean\x12\x34\n\nSetControl\x12\x0e.carla.Control\x1a\x16.google.protobuf.Empty\x12\x32\n\x10GetCarlaWaypoint\x12\r.carla.Vector\x1a\x0f.carla.Waypoint\x12\x36\n\x14GetNextCarlaWaypoint\x12\r.carla.Vector\x1a\x0f.carla.Waypoint\x12\x39\n\rGetGTaccuracy\x12\x14.carla.ObjectMinimal\x1a\x12.carla.DoubleValueb\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -26,32 +26,34 @@
   _globals['_ACTORIDS']._serialized_end=78
   _globals['_NUMBER']._serialized_start=80
   _globals['_NUMBER']._serialized_end=101
-  _globals['_VEHICLE']._serialized_start=104
-  _globals['_VEHICLE']._serialized_end=361
-  _globals['_VECTOR']._serialized_start=363
-  _globals['_VECTOR']._serialized_end=404
-  _globals['_ROTATION']._serialized_start=406
-  _globals['_ROTATION']._serialized_end=458
-  _globals['_TRANSFORM']._serialized_start=460
-  _globals['_TRANSFORM']._serialized_end=539
-  _globals['_OBJECT']._serialized_start=542
-  _globals['_OBJECT']._serialized_end=846
-  _globals['_OBJECTS']._serialized_start=848
-  _globals['_OBJECTS']._serialized_end=889
-  _globals['_BOOLEAN']._serialized_start=891
-  _globals['_BOOLEAN']._serialized_end=915
-  _globals['_OBJECTSIN']._serialized_start=917
-  _globals['_OBJECTSIN']._serialized_end=994
-  _globals['_OBJECTIN']._serialized_start=996
-  _globals['_OBJECTIN']._serialized_end=1068
-  _globals['_CONTROL']._serialized_start=1070
-  _globals['_CONTROL']._serialized_end=1161
-  _globals['_WAYPOINT']._serialized_start=1164
-  _globals['_WAYPOINT']._serialized_end=1379
-  _globals['_OBJECTMINIMAL']._serialized_start=1381
-  _globals['_OBJECTMINIMAL']._serialized_end=1476
-  _globals['_DOUBLEVALUE']._serialized_start=1478
-  _globals['_DOUBLEVALUE']._serialized_end=1506
-  _globals['_CARLAADAPTER']._serialized_start=1509
-  _globals['_CARLAADAPTER']._serialized_end=2482
+  _globals['_ACTOR']._serialized_start=104
+  _globals['_ACTOR']._serialized_end=339
+  _globals['_VEHICLE']._serialized_start=342
+  _globals['_VEHICLE']._serialized_end=599
+  _globals['_VECTOR']._serialized_start=601
+  _globals['_VECTOR']._serialized_end=642
+  _globals['_ROTATION']._serialized_start=644
+  _globals['_ROTATION']._serialized_end=696
+  _globals['_TRANSFORM']._serialized_start=698
+  _globals['_TRANSFORM']._serialized_end=777
+  _globals['_OBJECT']._serialized_start=780
+  _globals['_OBJECT']._serialized_end=1114
+  _globals['_OBJECTS']._serialized_start=1116
+  _globals['_OBJECTS']._serialized_end=1157
+  _globals['_BOOLEAN']._serialized_start=1159
+  _globals['_BOOLEAN']._serialized_end=1183
+  _globals['_OBJECTSIN']._serialized_start=1185
+  _globals['_OBJECTSIN']._serialized_end=1262
+  _globals['_OBJECTIN']._serialized_start=1264
+  _globals['_OBJECTIN']._serialized_end=1336
+  _globals['_CONTROL']._serialized_start=1338
+  _globals['_CONTROL']._serialized_end=1429
+  _globals['_WAYPOINT']._serialized_start=1432
+  _globals['_WAYPOINT']._serialized_end=1647
+  _globals['_OBJECTMINIMAL']._serialized_start=1649
+  _globals['_OBJECTMINIMAL']._serialized_end=1744
+  _globals['_DOUBLEVALUE']._serialized_start=1746
+  _globals['_DOUBLEVALUE']._serialized_end=1774
+  _globals['_CARLAADAPTER']._serialized_start=1777
+  _globals['_CARLAADAPTER']._serialized_end=2855
 # @@protoc_insertion_point(module_scope)
diff --git a/opencda/scenario_testing/utils/proto/carla_pb2_grpc.py b/opencda/scenario_testing/utils/proto/carla_pb2_grpc.py
index 5108804d0..95c2ee862 100644
--- a/opencda/scenario_testing/utils/proto/carla_pb2_grpc.py
+++ b/opencda/scenario_testing/utils/proto/carla_pb2_grpc.py
@@ -40,6 +40,16 @@ def __init__(self, channel):
                 request_serializer=carla__pb2.Number.SerializeToString,
                 response_deserializer=carla__pb2.Vehicle.FromString,
                 )
+        self.GetAllActorsIds = channel.unary_unary(
+                '/carla.CarlaAdapter/GetAllActorsIds',
+                request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString,
+                response_deserializer=carla__pb2.ActorIds.FromString,
+                )
+        self.GetActorById = channel.unary_unary(
+                '/carla.CarlaAdapter/GetActorById',
+                request_serializer=carla__pb2.Number.SerializeToString,
+                response_deserializer=carla__pb2.Actor.FromString,
+                )
         self.InsertVehicle = channel.unary_unary(
                 '/carla.CarlaAdapter/InsertVehicle',
                 request_serializer=carla__pb2.Vehicle.SerializeToString,
@@ -140,6 +150,18 @@ def GetManagedActorById(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def GetAllActorsIds(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetActorById(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
     def InsertVehicle(self, request, context):
         """Missing associated documentation comment in .proto file."""
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
@@ -246,6 +268,16 @@ def add_CarlaAdapterServicer_to_server(servicer, server):
                     request_deserializer=carla__pb2.Number.FromString,
                     response_serializer=carla__pb2.Vehicle.SerializeToString,
             ),
+            'GetAllActorsIds': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetAllActorsIds,
+                    request_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString,
+                    response_serializer=carla__pb2.ActorIds.SerializeToString,
+            ),
+            'GetActorById': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetActorById,
+                    request_deserializer=carla__pb2.Number.FromString,
+                    response_serializer=carla__pb2.Actor.SerializeToString,
+            ),
             'InsertVehicle': grpc.unary_unary_rpc_method_handler(
                     servicer.InsertVehicle,
                     request_deserializer=carla__pb2.Vehicle.FromString,
@@ -406,6 +438,40 @@ def GetManagedActorById(request,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
 
+    @staticmethod
+    def GetAllActorsIds(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/carla.CarlaAdapter/GetAllActorsIds',
+            google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString,
+            carla__pb2.ActorIds.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetActorById(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/carla.CarlaAdapter/GetActorById',
+            carla__pb2.Number.SerializeToString,
+            carla__pb2.Actor.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
     @staticmethod
     def InsertVehicle(request,
             target,
diff --git a/opencda/scenario_testing/utils/sim_api.py b/opencda/scenario_testing/utils/sim_api.py
index 8e996686a..444a684ee 100644
--- a/opencda/scenario_testing/utils/sim_api.py
+++ b/opencda/scenario_testing/utils/sim_api.py
@@ -14,6 +14,7 @@
 from random import shuffle
 from omegaconf import OmegaConf
 from omegaconf.listconfig import ListConfig
+import logging
 
 import carla
 import numpy as np
@@ -48,6 +49,7 @@ def car_blueprint_filter(blueprint_library, carla_version='0.9.11'):
         The list of suitable blueprints for vehicles.
     """
 
+
     if carla_version == '0.9.11':
         print('old version')
         blueprints = [
@@ -163,7 +165,7 @@ class ScenarioManager:
         CAV World that contains the information of all CAVs.
 
     carla_map : carla.map
-        Car;a HD Map.
+        Carla HD Map.
 
     """
 
@@ -273,7 +275,7 @@ def create_vehicle_manager(self, application,
                                map_helper=None,
                                data_dump=False,
                                pldm=False,
-                               log_dir=None):
+                               log_dir=None,port=8000):
         """
         Create a list of single CAVs.
 
@@ -296,6 +298,19 @@ def create_vehicle_manager(self, application,
         """
         print('Creating single CAVs.')
         # By default, we use lincoln as our cav model.
+        traffic_config = self.scenario_params['carla_traffic_manager']
+        if port != 8000:
+            tm = self.client.get_trafficmanager(port)
+        else:
+            tm = self.client.get_trafficmanager()
+
+        tm.set_global_distance_to_leading_vehicle(
+            traffic_config['global_distance'])
+        tm.set_synchronous_mode(traffic_config['sync_mode'])
+        tm.set_osm_mode(traffic_config['set_osm_mode'])
+        tm.global_percentage_speed_difference(
+            traffic_config['global_speed_perc'])
+
         default_model = 'vehicle.lincoln.mkz2017' \
             if self.carla_version == '0.9.11' else 'vehicle.lincoln.mkz_2017'
 
@@ -346,27 +361,7 @@ def create_vehicle_manager(self, application,
                 # self.world.debug.draw_string(ego_pos.location, str(self.vehicle.id), False, carla.Color(200, 200, 0))
 
 
-            # if 'intruder' in cav_config['v2x']:
-            #     if cav_config['v2x']['intruder']:
-            #         cav_vehicle_bp.set_attribute('color', '255, 0, 0')
-            #         vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-            #
-            #         vehicle_manager = ExtendedVehicleManager(
-            #             vehicle, cav_config, 'intruder',
-            #             self.carla_map, self.cav_world,
-            #             current_time=self.scenario_params['current_time'],
-            #             data_dumping=data_dump,
-            #             pldm=False, log_dir=log_dir)
-            #     else:
-            #         cav_vehicle_bp.set_attribute('color', '0, 0, 255')
-            #         vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-            #         # create vehicle manager for each cav
-            #         vehicle_manager = ExtendedVehicleManager(
-            #             vehicle, cav_config, application,
-            #             self.carla_map, self.cav_world,
-            #             current_time=self.scenario_params['current_time'],
-            #             data_dumping=data_dump,
-            #             pldm=pldm, log_dir=log_dir)
+
             if 'ms-van3t' in cav_config['v2x']:
                 cav_vehicle_bp.set_attribute('color', '0, 0, 255')
                 if 'intruder' in cav_config['v2x']:
@@ -394,6 +389,14 @@ def create_vehicle_manager(self, application,
                     data_dumping=data_dump,
                     pldm=pldm, log_dir=log_dir)
 
+            vehicle.set_autopilot(True, tm.get_port())
+
+            if 'vehicle_speed_perc' in cav_config:
+                tm.vehicle_percentage_speed_difference(
+                    vehicle, cav_config['vehicle_speed_perc'])
+            tm.auto_lane_change(vehicle, traffic_config['auto_lane_change'])
+            tm.ignore_lights_percentage(vehicle, 0)
+
             self.world.tick()
 
             vehicle_manager.v2x_manager.set_platoon(None)
@@ -407,18 +410,53 @@ def create_vehicle_manager(self, application,
                 destination,
                 clean=True)
 
+
             single_cav_list.append(vehicle_manager)
 
         return single_cav_list
 
     def create_vehicle_manager_auto(self, application,
-                               map_helper=None,
-                               data_dump=False,
-                               pldm=False,
-                               log_dir=None,
-                               port=8000):
+                                           map_helper=None,
+                                           data_dump=False,
+                                           x=0, y=0, z=0,
+                                           number=1,
+                                           random_bp=False,
+                                           spawnPoint=None):
+        single_cav_list = []
+        number = len(self.scenario_params['scenario']['single_cav_list'])
+        for i in range(number):
+            cav_config = self.scenario_params['scenario']['single_cav_list'][i]
+            platoon_base = OmegaConf.create({'platoon': self.scenario_params.get('platoon_base', {})})
+            cav_config = OmegaConf.merge(self.scenario_params['vehicle_base'],
+                                         platoon_base,
+                                         cav_config)
+            spawn_transform = carla.Transform(
+                carla.Location(
+                    x=cav_config['spawn_position'][0],
+                    y=cav_config['spawn_position'][1],
+                    z=cav_config['spawn_position'][2]),
+                carla.Rotation(
+                    pitch=cav_config['spawn_position'][5],
+                    yaw=cav_config['spawn_position'][4],
+                    roll=cav_config['spawn_position'][3]))
+
+            cav = self.create_single_vehicle_manager_auto(application, map_helper, data_dump, i, random_bp, number=i,
+                                                          spawnPoint=spawn_transform)
+            for c in cav:
+                single_cav_list.append(c)
+
+        return single_cav_list
+        
+
+    def create_single_vehicle_manager_auto(self, application,
+                                           map_helper=None,
+                                           data_dump=False,
+                                           x=0, y=0, z=0,
+                                           number=1,
+                                           random_bp=False,
+                                           spawnPoint=None):
         """
-        Create a list of single CAVs to be controlled by carla's traffic manager.
+        Create a list of single CAVs.
 
         Parameters
         ----------
@@ -432,155 +470,86 @@ def create_vehicle_manager_auto(self, application,
         data_dump : bool
             Whether to dump sensor data.
 
-        port : int
-            The port number of the traffic manager.
-
         Returns
         -------
         single_cav_list : list
             A list contains all single CAVs' vehicle manager.
         """
-        print('Creating single CAVs.')
-
-        traffic_config = self.scenario_params['carla_traffic_manager']
-        if port != 8000:
-            tm = self.client.get_trafficmanager(port)
-        else:
-            tm = self.client.get_trafficmanager()
-
-        tm.set_global_distance_to_leading_vehicle(
-            traffic_config['global_distance'])
-        tm.set_synchronous_mode(traffic_config['sync_mode'])
-        tm.set_osm_mode(traffic_config['set_osm_mode'])
-        tm.global_percentage_speed_difference(
-            traffic_config['global_speed_perc'])
+        print('Creating single CAV.')
         # By default, we use lincoln as our cav model.
         default_model = 'vehicle.lincoln.mkz2017' \
             if self.carla_version == '0.9.11' else 'vehicle.lincoln.mkz_2017'
 
-        cav_vehicle_bp = \
-            self.world.get_blueprint_library().find(default_model)
+        if random_bp:
+            cav_vehicle_bp = \
+                random.choice(self.world.get_blueprint_library().filter('vehicle.*'))
+        else:
+            cav_vehicle_bp = \
+                self.world.get_blueprint_library().find(default_model)
         single_cav_list = []
 
-        for i, cav_config in enumerate(
-                self.scenario_params['scenario']['single_cav_list']):
-            # in case the cav wants to join a platoon later
-            # it will be empty dictionary for single cav application
-            platoon_base = OmegaConf.create({'platoon': self.scenario_params.get('platoon_base', {})})
-            cav_config = OmegaConf.merge(self.scenario_params['vehicle_base'],
-                                         platoon_base,
-                                         cav_config)
-            # if the spawn position is a single scalar, we need to use map
-            # helper to transfer to spawn transform
-            if 'spawn_special' not in cav_config:
-                spawn_transform = carla.Transform(
-                    carla.Location(
-                        x=cav_config['spawn_position'][0],
-                        y=cav_config['spawn_position'][1],
-                        z=cav_config['spawn_position'][2]),
-                    carla.Rotation(
-                        pitch=cav_config['spawn_position'][5],
-                        yaw=cav_config['spawn_position'][4],
-                        roll=cav_config['spawn_position'][3]))
-            else:
-                # spawn_transform = map_helper(self.carla_version,
-                #                             cav_config['spawn_special'][0])
-                transform_point = carla.Transform(carla.Location(x=-1202.0827,
-                                                                 y=458.2501,
-                                                                 z=0.3),
-                                                  carla.Rotation(yaw=-20.4866))
+        # in case the cav wants to join a platoon later
+        # it will be empty dictionary for single cav application
+        cav_config = self.scenario_params['scenario']['single_cav_list'][number]
+        platoon_base = OmegaConf.create({'platoon': self.scenario_params.get('platoon_base', {})})
+        cav_config = OmegaConf.merge(self.scenario_params['vehicle_base'],
+                                     platoon_base,
+                                     cav_config)
 
-                begin_point = carla.Transform(carla.Location(x=-16.7102,
-                                                             y=15.3622,
-                                                             z=0.3),
-                                              carla.Rotation(yaw=-20.4866))
+        self.world.get_actors()
+        actor_list = self.world.get_actors()
+        vehicles = actor_list.filter('vehicle.*')
+        spawnPoints = self.world.get_map().get_spawn_points()
 
-                transform_point.location.x = transform_point.location.x + cav_config['spawn_special'][0] * \
-                                             (begin_point.location.x -
-                                              transform_point.location.x)
-                transform_point.location.y = transform_point.location.y + cav_config['spawn_special'][0] * \
-                                             (begin_point.location.y -
-                                              transform_point.location.y)
-                spawn_transform = transform_point
-                # self.world.debug.draw_string(ego_pos.location, str(self.vehicle.id), False, carla.Color(200, 200, 0))
+        # iterate over the spawn points and do self.world.debug.draw_string(spawnPoints[i].location, str(round(i)), False, carla.Color(200, 200, 0), 10)
+        for i in range(len(spawnPoints)):
+            x = spawnPoints[i].location.x
+            y = spawnPoints[i].location.y
+            text = f"{round(i)} - ({x},{y})"
+            self.world.debug.draw_string(spawnPoints[i].location, text, False, carla.Color(200, 200, 0), 10)
 
 
-            # if 'intruder' in cav_config['v2x']:
-            #     if cav_config['v2x']['intruder']:
-            #         cav_vehicle_bp.set_attribute('color', '255, 0, 0')
-            #         vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-            #
-            #         vehicle_manager = ExtendedVehicleManager(
-            #             vehicle, cav_config, 'intruder',
-            #             self.carla_map, self.cav_world,
-            #             current_time=self.scenario_params['current_time'],
-            #             data_dumping=data_dump,
-            #             pldm=False, log_dir=log_dir)
-            #     else:
-            #         cav_vehicle_bp.set_attribute('color', '0, 0, 255')
-            #         vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-            #         # create vehicle manager for each cav
-            #         vehicle_manager = ExtendedVehicleManager(
-            #             vehicle, cav_config, application,
-            #             self.carla_map, self.cav_world,
-            #             current_time=self.scenario_params['current_time'],
-            #             data_dumping=data_dump,
-            #             pldm=pldm, log_dir=log_dir)
-            if 'ms-van3t' in cav_config['v2x']:
-                cav_vehicle_bp.set_attribute('color', '0, 0, 255')
-                if 'intruder' in cav_config['v2x']:
-                    cav_vehicle_bp.set_attribute('color', '255, 0, 0')
-                # print ('transform:', spawn_transform)
-                vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-                # create vehicle manager for each cav
-                vehicle_manager = ExtendedVehicleManager(
-                    vehicle, cav_config, application,
-                    self.carla_map, self.cav_world,
-                    current_time=self.scenario_params['current_time'],
-                    data_dumping=data_dump,
-                    pldm=pldm, log_dir=log_dir, ms_vanet=True)
+        cav_vehicle_bp.set_attribute('color', '0, 255, 0')
 
-                vehicle.set_autopilot(True, tm.get_port())
-                if 'vehicle_speed_perc' in cav_config:
-                    tm.vehicle_percentage_speed_difference(
-                        vehicle, cav_config['vehicle_speed_perc'])
-                tm.auto_lane_change(vehicle, traffic_config['auto_lane_change'])
-                tm.ignore_lights_percentage(vehicle, 0)
-            else:
-                if 'spawn_special' not in cav_config:
-                    cav_vehicle_bp.set_attribute('color', '0, 0, 255')
-                else:
-                    cav_vehicle_bp.set_attribute('color', '255, 0, 0')
-                vehicle = self.world.spawn_actor(cav_vehicle_bp, spawn_transform)
-                # create vehicle manager for each cav
-                vehicle_manager = ExtendedVehicleManager(
-                    vehicle, cav_config, application,
-                    self.carla_map, self.cav_world,
-                    current_time=self.scenario_params['current_time'],
-                    data_dumping=data_dump,
-                    pldm=pldm, log_dir=log_dir)
+        #using spawn point from yaml file.
+        # sp= carla.Transform(
+        #     carla.Location(
+        #         x=cav_config['spawn_position'][0],
+        #         y=cav_config['spawn_position'][1],
+        #         z=cav_config['spawn_position'][2]),
+        #     carla.Rotation(
+        #         pitch=cav_config['spawn_position'][5],
+        #         yaw=cav_config['spawn_position'][4],
+        #         roll=cav_config['spawn_position'][3]))
 
-                vehicle.set_autopilot(True, tm.get_port())
-                if 'vehicle_speed_perc' in cav_config:
-                    tm.vehicle_percentage_speed_difference(
-                        vehicle, cav_config['vehicle_speed_perc'])
-                tm.auto_lane_change(vehicle, traffic_config['auto_lane_change'])
-                tm.ignore_lights_percentage(vehicle, 0)
+        vehicle = self.world.spawn_actor(cav_vehicle_bp, spawnPoint)
 
-            self.world.tick()
+        # create vehicle manager for each cav
+        vehicle_manager = ExtendedVehicleManager(
+            vehicle, cav_config, application,
+            self.carla_map, self.cav_world,
+            current_time=self.scenario_params['current_time'],
+            data_dumping=data_dump)
 
-            vehicle_manager.v2x_manager.set_platoon(None)
+        self.world.tick()
 
-            destination = carla.Location(x=cav_config['destination'][0],
-                                         y=cav_config['destination'][1],
-                                         z=cav_config['destination'][2])
-            vehicle_manager.update_info_LDM()
-            vehicle_manager.set_destination(
-                vehicle_manager.vehicle.get_location(),
-                destination,
-                clean=True)
+        vehicle_manager.v2x_manager.set_platoon(None)
 
-            single_cav_list.append(vehicle_manager)
+        destination = carla.Location(x=cav_config['destination'][0],
+                                     y=cav_config['destination'][1],
+                                     z=cav_config['destination'][2])
+        vehicle_manager.update_info_LDM()
+        vehicle_manager.set_destination(
+            vehicle_manager.vehicle.get_location(),
+            destination,
+            clean=True)
+        vehicle_manager.vehicle.set_autopilot(True, 8000)
+
+        tm = self.client.get_trafficmanager()
+        tm.auto_lane_change(vehicle, True)
+        tm.ignore_lights_percentage(vehicle_manager.vehicle, 1)
+
+        single_cav_list.append(vehicle_manager)
 
         return single_cav_list
 
@@ -784,6 +753,249 @@ def create_rsu_manager(self, data_dump):
 
         return rsu_list
 
+
+    def spawn_pedestrian_by_list (self, tm, traffic_config, pedestrian_list):
+        """
+        Spawn the pedestrians by the given list
+
+        Parameters
+        ----------
+        tm : carla.TrafficManager
+            Traffic manager.
+
+        traffic_config : dict
+            Background traffic configuration.
+
+        pedestrian_list : list
+            The list contains all pedestrians.
+
+        Returns
+        -------
+        pedestrians_list : list
+            Update pedestrians list.
+        """
+
+        # list of spawn points for pedestrians near CAV1
+        spawn_point_pedestrians = []
+        i=0
+        while i<400:
+            sp = self.world.get_random_location_from_navigation()
+            spawn_point_pedestrians.append(sp)
+            debug_text = f"ID:{round(i)} X:{sp.x:.1f} Y:{sp.y:.1f}"
+            self.world.debug.draw_string(sp, str(round(i)), False, carla.Color(255, 255, 255),
+                                            100)
+            print(str(round(i)), " : x = ", sp.x, " , y = ", sp.y)
+            i=i+1
+        spectator = self.world.get_spectator()
+        # assign the first CAV as the spectator vehicle
+        #spectator_vehicle = single_cav_list[0].vehicle
+        # get the transform of the spectator vehicle
+        transform = carla.Transform(carla.Location(x=-64,y=24))
+        # set the spectator to the top of the spectator vehicle
+        spectator.set_transform(carla.Transform(transform.location +
+                                                carla.Location(z=110),
+                                                carla.Rotation(pitch=-90)))
+
+        blueprint_library = self.world.get_blueprint_library()
+        walker_controller_bp = blueprint_library.find('controller.ai.walker')
+        SpawnActor = carla.command.SpawnActor
+        batch = []
+        all_id = []
+        all_actors = []
+
+        #Create batch with locations to spawn pedestrians
+        for i, pedestrian_config in enumerate(traffic_config['pedestrian_list']):
+            spawn_transform = carla.Transform(
+                carla.Location(
+                    x=pedestrian_config['spawn_position'][0],
+                    y=pedestrian_config['spawn_position'][1],
+                    z=pedestrian_config['spawn_position'][2]))
+
+            walker_bp = random.choice(blueprint_library.filter('walker.pedestrian.*'))
+            batch.append(SpawnActor(walker_bp, spawn_transform))
+
+            #print spawning points on the map
+            self.world.debug.draw_string(spawn_transform.location, str(round(i)), False, carla.Color(200, 0, 200), 100)
+
+        #Spawn pedestrians
+        results = self.client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+            else:
+                pedestrian_list.append({"id": results[i].actor_id})
+
+        batch = []
+        for i in range(len(pedestrian_list)):
+            batch.append(SpawnActor(walker_controller_bp, carla.Transform(), pedestrian_list[i]['id']))
+
+        #Spawn controllers
+        results = self.client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+            else:
+                pedestrian_list[i]['con'] = results[i].actor_id
+
+        for i in range(len(pedestrian_list)):             #pedestrian_list: list of dict {'con': id, 'walker': id}
+            all_id.append(pedestrian_list[i]["con"])      #all_id: list of ids [con, walker, con ,walker...]
+            all_id.append(pedestrian_list[i]["id"])
+        all_actors = self.world.get_actors(all_id)        #all_actors: list of actors [actor con, actor walker, actor con....]
+
+
+        for i in range(0, len(all_id), 2):
+            # start walker
+            all_actors[i].start()
+            # set walk to random point
+            all_actors[i].go_to_location(self.world.get_random_location_from_navigation())
+
+
+        print(len(pedestrian_list), "pedestrians were spawned")
+
+        return all_id
+    def spawn_pedestrian_by_radius (self, tm, traffic_config):
+        """
+        Spawn the pedestrians by the given list
+
+        Parameters
+        ----------
+        tm : carla.TrafficManager
+            Traffic manager.
+
+        traffic_config : dict
+            Background traffic configuration.
+
+        second_pedestrian_list : list
+            The list contains all pedestrians.
+
+        Returns
+        -------
+        pedestrians_list : list
+            Update pedestrians list.
+        """
+
+        # list of spawn points for pedestrians near CAV1
+        # spawn_point_pedestrians = []
+        # i=0
+        # while i<150:
+        #     sp = self.world.get_random_location_from_navigation()
+        #     spawn_point_pedestrians.append(sp)
+        #     self.world.debug.draw_string(sp, str(round(i)), False, carla.Color(200, 0, 200),
+        #                                     100)
+        #     i=i+1
+        # spectator = self.world.get_spectator()
+        # # assign the first CAV as the spectator vehicle
+        # #spectator_vehicle = single_cav_list[0].vehicle
+        # # get the transform of the spectator vehicle
+        # transform = carla.Transform(carla.Location(x=-64,y=24))
+        # # set the spectator to the top of the spectator vehicle
+        # spectator.set_transform(carla.Transform(transform.location +
+        #                                         carla.Location(z=110),
+        #                                         carla.Rotation(pitch=-90)))
+
+
+        blueprint_library = self.world.get_blueprint_library()
+        walker_controller_bp = blueprint_library.find('controller.ai.walker')
+        SpawnActor = carla.command.SpawnActor
+        batch = []
+        all_id = []
+        all_actors = []
+        spawn_point_pedestrians = []
+        i=0
+        j=0
+        second_pedestrian_list = []
+        ped_not_spawned = 0
+        n_pedestrian = traffic_config['n_pedestrian']
+        radius = traffic_config['radius']
+        same_dest = traffic_config['same_destination']
+
+        cav_config = self.scenario_params['scenario']['single_cav_list'][0]
+        if traffic_config['center'] == [0, 0]: #if we do not specify, radius is around cav1
+            center_x = cav_config['spawn_position'][0]
+            center_y = cav_config['spawn_position'][1]
+        else:
+            center_x = traffic_config['center'][0]
+            center_y = traffic_config['center'][1]
+
+        while i < n_pedestrian:
+                sp = self.world.get_random_location_from_navigation()
+                if (center_x-radius < sp.x < center_x+radius) & (center_y-radius < sp.y < center_y+radius):
+                    # spawn_point_pedestrians.append(sp)
+                    walker_bp = random.choice(blueprint_library.filter('walker.pedestrian.*'))
+                    spawnpoint = carla.Transform(carla.Location(sp))
+                    batch.append(SpawnActor(walker_bp, spawnpoint))
+                    i= i+1
+                j=j+1
+
+                if j > 4000:
+                    print('Not enough spawn points for the corresponding radius and number of pedestrians chosen.')
+                    break
+
+
+        #Spawn pedestrians
+        results = self.client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+                ped_not_spawned = ped_not_spawned + 1
+            else:
+                second_pedestrian_list.append({"id": results[i].actor_id})
+
+        count = 0
+        count2 = 0
+        while count < ped_not_spawned:
+            sp = self.world.get_random_location_from_navigation()
+            if (center_x - radius < sp.x < center_x + radius) & (center_y - radius < sp.y < center_y + radius):
+                walker_bp = random.choice(blueprint_library.filter('walker.pedestrian.*'))
+                spawnpoint = carla.Transform(carla.Location(sp))
+                ped = self.world.try_spawn_actor(walker_bp, spawnpoint)
+                if ped is not None:
+                    second_pedestrian_list.append({"id": ped.id})
+                    count = count + 1
+                    print("New location found")
+            count2 = count2 + 1
+            if count2 > 4000:
+                print('Not enough spawn points for the corresponding radius and number of pedestrians chosen.')
+                break
+
+
+
+        batch = []
+        for i in range(len(second_pedestrian_list)):
+            batch.append(SpawnActor(walker_controller_bp, carla.Transform(), second_pedestrian_list[i]['id']))
+
+        #Spawn controllers
+        results = self.client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+            else:
+                second_pedestrian_list[i]['con'] = results[i].actor_id
+
+        for i in range(len(second_pedestrian_list)):             #pedestrian_list: list of dict {'con': id, 'walker': id}
+            all_id.append(second_pedestrian_list[i]["con"])      #all_id: list of ids [con, walker, con ,walker...]
+            all_id.append(second_pedestrian_list[i]["id"])
+        all_actors = self.world.get_actors(all_id)        #all_actors: list of actors [actor con, actor walker, actor con....]
+
+        if same_dest:
+            go_to = self.world.get_random_location_from_navigation()
+            for i in range(0, len(all_id), 2):
+                # start walker
+                all_actors[i].start()
+                # set walk to random point
+                all_actors[i].go_to_location(go_to)
+        else:
+            for i in range(0, len(all_id), 2):
+                # start walker
+                all_actors[i].start()
+                # set walk to random point
+                all_actors[i].go_to_location(self.world.get_random_location_from_navigation())
+
+        print(len(second_pedestrian_list), "pedestrians were spawned by range, center = [ ", center_x, ", ", center_y,
+              " ], radius = ", radius)
+
+        return all_id
+
     def spawn_vehicles_by_list(self, tm, traffic_config, bg_list):
         """
         Spawn the traffic vehicles by the given list.
@@ -848,6 +1060,15 @@ def spawn_vehicles_by_list(self, tm, traffic_config, bg_list):
                             'color').recommended_values)
                     ego_vehicle_bp.set_attribute('color', color)
 
+            if vehicle_config['blueprint'] == 'bicycle':
+                ego_vehicle_bp = blueprint_library.find('vehicle.bh.crossbike')
+            elif vehicle_config['blueprint'] == 'motorcycle':
+                ego_vehicle_bp = blueprint_library.find('vehicle.harley-davidson.low_rider')
+            else: pass
+
+            # spawnPoints = self.world.get_map().get_spawn_points()
+
+
             vehicle = self.world.spawn_actor(ego_vehicle_bp, spawn_transform)
             vehicle.set_autopilot(True, tm.get_port())
 
@@ -1013,8 +1234,28 @@ def create_traffic_carla(self, port=8000):
         else:
             bg_list = self.spawn_vehicle_by_range(tm, traffic_config, bg_list)
 
+        pedestrian_list = []
+        second_pedestrian_list = []
+
+        if 'pedestrian_list' in traffic_config:
+            if isinstance(traffic_config['pedestrian_list'], list) or \
+                    isinstance(traffic_config['pedestrian_list'], ListConfig):
+                pedestrian_list = self.spawn_pedestrian_by_list(tm,
+                                                                traffic_config,
+                                                                pedestrian_list)
+
+        #type(traffic_config['pedestrian_by_radius'])
+        if 'pedestrian_by_radius' in traffic_config:
+            if traffic_config['pedestrian_by_radius'] == True:
+                for i, batch_config in enumerate(traffic_config['spawn_list_by_radius']):
+                    second_pedestrian_list += self.spawn_pedestrian_by_radius(tm,
+                                                                    batch_config)
+
+        all_id = pedestrian_list + second_pedestrian_list
+        pedestrian_list = self.world.get_actors(all_id) # list of actors [actor con, actor walker, actor con....]
+
         print('CARLA traffic flow generated.')
-        return tm, bg_list
+        return tm, bg_list, pedestrian_list
 
     def create_traffic_carla_by_number(self, vehicle_number):
         traffic_config = self.scenario_params['carla_traffic_manager']
@@ -1054,7 +1295,7 @@ def create_traffic_carla_by_spawn_point(self, spawnPoints):
         # iterate over the spawn points and do self.world.debug.draw_string(spawnPoints[i].location, str(round(0)), False, carla.Color(200, 200, 0), 10)
         sps = self.world.get_map().get_spawn_points()
         for i in range(len(sps)):
-            self.worlwd.debug.dwraw_string(sps[i].location, str(round(i)), False, carla.Color(200, 200, 0), 100)
+            self.world.debug.draw_string(sps[i].location, str(round(i)), False, carla.Color(200, 200, 0), 100)
 
         spawn_points = self.world.get_map().get_spawn_points()
         for sp in spawnPoints:
diff --git a/opencda/scenario_testing/v2xp_datadump_town06_carla.py b/opencda/scenario_testing/v2xp_datadump_town06_carla.py
new file mode 100644
index 000000000..3f2fddcc6
--- /dev/null
+++ b/opencda/scenario_testing/v2xp_datadump_town06_carla.py
@@ -0,0 +1,96 @@
+# -*- coding: utf-8 -*-
+"""
+Scenario testing: merging vehicle joining a platoon in the
+customized 2-lane freeway simplified map sorely with carla
+"""
+# Author: Runsheng Xu <rxx3386@ucla.edu>
+# License: TDG-Attribution-NonCommercial-NoDistrib
+import os
+
+import carla
+
+import opencda.scenario_testing.utils.sim_api as sim_api
+from opencda.core.common.cav_world import CavWorld
+from opencda.scenario_testing.evaluations.evaluate_manager import \
+    EvaluationManager
+from opencda.scenario_testing.utils.yaml_utils import add_current_time, save_yaml
+
+
+def run_scenario(opt, scenario_params):
+    try:
+        scenario_params = add_current_time(scenario_params)
+
+        # create CAV world
+        cav_world = CavWorld(opt.apply_ml)
+
+        # create scenario manager
+        scenario_manager = sim_api.ScenarioManager(scenario_params,
+                                                   opt.apply_ml,
+                                                   opt.version,
+                                                   town='Town06',
+                                                   cav_world=cav_world)
+
+        if opt.record:
+            scenario_manager.client. \
+                start_recorder("single_town06_carla.log", True)
+
+        single_cav_list = \
+            scenario_manager.create_vehicle_manager(application=['single'],
+                                                    data_dump=True)
+        rsu_list = \
+            scenario_manager.create_rsu_manager(data_dump=True)
+
+        # create background traffic in carla
+        traffic_manager, bg_veh_list = \
+            scenario_manager.create_traffic_carla()
+
+        # create evaluation manager
+        eval_manager = \
+            EvaluationManager(scenario_manager.cav_world,
+                              script_name='coop_town06',
+                              current_time=scenario_params['current_time'])
+
+        spectator = scenario_manager.world.get_spectator()
+
+        # save the data collection protocol to the folder
+        current_path = os.path.dirname(os.path.realpath(__file__))
+        save_yaml_name = os.path.join(current_path,
+                                      '../../data_dumping',
+                                      scenario_params['current_time'],
+                                      'data_protocol.yaml')
+        save_yaml(scenario_params, save_yaml_name)
+
+        while True:
+            scenario_manager.tick()
+            transform = single_cav_list[0].vehicle.get_transform()
+            spectator.set_transform(carla.Transform(
+                transform.location +
+                carla.Location(
+                    z=70),
+                carla.Rotation(
+                    pitch=-
+                    90)))
+
+            for i, single_cav in enumerate(single_cav_list):
+                single_cav.update_info()
+                control = single_cav.run_step()
+                single_cav.vehicle.apply_control(control)
+
+            for rsu in rsu_list:
+                rsu.update_info()
+                rsu.run_step()
+
+    finally:
+        eval_manager.evaluate()
+
+        if opt.record:
+            scenario_manager.client.stop_recorder()
+
+        scenario_manager.close()
+
+        for v in single_cav_list:
+            v.destroy()
+        for r in rsu_list:
+            r.destroy()
+        for v in bg_veh_list:
+            v.destroy()

From 6c89fae9779675ef3436e527b1bb9f36da290ef0 Mon Sep 17 00:00:00 2001
From: Victor Fiorin de Carvalho <victorfiorinx@gmail.com>
Date: Fri, 19 Dec 2025 13:25:06 +0100
Subject: [PATCH 2/2] Cleanup: keep only intended VRU and pedestrian changes

---
 opencda/assets/map_diego/map3.xodr            | 190321 +++++++++++++++
 opencda/customize/v2x/CAservice.py            |    127 -
 opencda/customize/v2x/CPservice.py            |    217 -
 opencda/customize/v2x/PCservice.py            |    374 -
 opencda/customize/v2x/PLDMservice.py          |    965 -
 opencda/customize/v2x/intruderApp.py          |    148 -
 opencda/customize/v2x/v2x_agent.py            |      5 -
 .../ms_van3t_platooning_4lane_intruder.yaml   |      4 +-
 .../platoon_joining_2lanefree_carla.yaml      |    107 -
 .../platoon_joining_2lanefree_cosim.yaml      |    122 -
 .../platoon_joining_town06_carla.yaml         |    169 -
 .../platoon_stability_2lanefree_carla.yaml    |     58 -
 .../config_yaml/platoon_test_town5.yaml       |    253 -
 .../config_yaml/platoon_test_town6.yaml       |    363 -
 .../config_yaml/single_2lanefree_carla.yaml   |     33 -
 .../config_yaml/single_2lanefree_cosim.yaml   |     41 -
 .../single_intersection_town06_carla.yaml     |     41 -
 .../config_yaml/single_town05_cosim.yaml      |     43 -
 .../config_yaml/single_town06_carla.yaml      |     52 -
 .../config_yaml/single_town06_cosim.yaml      |     59 -
 .../v2xp_datadump_town06_carla.yaml           |     91 -
 .../platoon_joining_2lanefree_carla.py        |    102 -
 .../platoon_joining_2lanefree_cosim.py        |    102 -
 .../platoon_joining_town06_carla.py           |     92 -
 .../platoon_stability_2lanefree_carla.py      |    172 -
 .../scenario_testing/platoon_test_docker.py   |     78 -
 .../scenario_testing/platoon_test_town5.py    |    114 -
 .../scenario_testing/platoon_test_town6.py    |    109 -
 .../single_2lanefree_carla.py                 |     87 -
 .../single_2lanefree_cosim.py                 |     76 -
 .../single_intersection_town06_carla.py       |     78 -
 .../scenario_testing/single_town05_cosim.py   |     68 -
 .../scenario_testing/single_town06_carla.py   |     80 -
 .../scenario_testing/single_town06_cosim.py   |     73 -
 opencda/scenario_testing/tracking_test.py     |     67 -
 .../v2xp_datadump_town06_carla.py             |     96 -
 36 files changed, 190323 insertions(+), 4664 deletions(-)
 create mode 100644 opencda/assets/map_diego/map3.xodr
 delete mode 100644 opencda/customize/v2x/CAservice.py
 delete mode 100644 opencda/customize/v2x/CPservice.py
 delete mode 100644 opencda/customize/v2x/PCservice.py
 delete mode 100644 opencda/customize/v2x/PLDMservice.py
 delete mode 100644 opencda/customize/v2x/intruderApp.py
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_town06_carla.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
 delete mode 100644 opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
 delete mode 100644 opencda/scenario_testing/platoon_joining_2lanefree_carla.py
 delete mode 100644 opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
 delete mode 100644 opencda/scenario_testing/platoon_joining_town06_carla.py
 delete mode 100644 opencda/scenario_testing/platoon_stability_2lanefree_carla.py
 delete mode 100644 opencda/scenario_testing/platoon_test_docker.py
 delete mode 100644 opencda/scenario_testing/platoon_test_town5.py
 delete mode 100644 opencda/scenario_testing/platoon_test_town6.py
 delete mode 100644 opencda/scenario_testing/single_2lanefree_carla.py
 delete mode 100644 opencda/scenario_testing/single_2lanefree_cosim.py
 delete mode 100644 opencda/scenario_testing/single_intersection_town06_carla.py
 delete mode 100644 opencda/scenario_testing/single_town05_cosim.py
 delete mode 100644 opencda/scenario_testing/single_town06_carla.py
 delete mode 100644 opencda/scenario_testing/single_town06_cosim.py
 delete mode 100644 opencda/scenario_testing/tracking_test.py
 delete mode 100644 opencda/scenario_testing/v2xp_datadump_town06_carla.py

diff --git a/opencda/assets/map_diego/map3.xodr b/opencda/assets/map_diego/map3.xodr
new file mode 100644
index 000000000..01539dd50
--- /dev/null
+++ b/opencda/assets/map_diego/map3.xodr
@@ -0,0 +1,190321 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2024-10-02 17:14:07 by Eclipse SUMO netconvert Version 1.12.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <osm-files value="map3.osm"/>
+    </input>
+
+    <output>
+        <opendrive-output value="map3.xodr"/>
+    </output>
+
+    <projection>
+        <proj.utm value="true"/>
+    </projection>
+
+    <junctions>
+        <no-internal-links value="false"/>
+        <rectangular-lane-cut value="true"/>
+    </junctions>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<OpenDRIVE>
+    <header revMajor="1" revMinor="4" name="" version="1.00" date="Wed Oct  2 17:14:07 2024" north="2208.11" south="0.00" east="1788.66" west="0.00">
+        <geoReference>
+ <![CDATA[
+ +proj=utm +zone=31 +ellps=WGS84 +datum=WGS84 +units=m +no_defs
+]]>
+        </geoReference>
+        <offset x="-429843.93" y="-5419974.58" z="0.00" hdg="0"/>
+    </header>
+    <road name="" length="0.20000000" id="11180" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="1"/>
+            <successor elementType="junction" elementId="2"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="517.99380245" y="510.85471278" hdg="1.59476091" length="0.20000000">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.20" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                        <speed sOffset="0" max="13.89"/>
+                    </lane>
+                 </right>
+            </laneSection>
+        </lanes>
+        <objects/>
+        <signals/>
+    </road>
+    <road name="" length="0.20000000" id="11181" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="3"/>
+            <successor elementType="junction" elementId="4"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="628.02268163" y="481.81334443" hdg="-0.96860651" length="0.20000000">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="restricted" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.20" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                        <speed sOffset="0" max="5.56"/>
+                    </lane>
+                 </right>
+            </laneSection>
+        </lanes>
+        <objects/>
+        <signals/>
+    </road>
+    <road name="" length="3.08332235" id="11182" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="5"/>
+            <successor elementType="junction" elementId="6"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="624.72372293" y="491.39970111" hdg="-2.43962604" length="0.10000000">
+                <line/>
+            </geometry>
+            <geometry s="0.10000000" x="624.64736556" y="491.33512905" hdg="-2.09404452" length="2.88332235">
+                <line/>
+            </geometry>
+            <geometry s="2.98332235" x="623.20657988" y="488.83759338" hdg="-0.96894108" length="0.10000000">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="restricted" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.20" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                        <speed sOffset="0" max="5.56"/>
+                    </lane>
+                 </right>
+            </laneSection>
+        </lanes>
+        <objects/>
+        <signals/>
+    </road>
+    <road name="" length="1.84099655" id="11183" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="6"/>
+            <successor elementType="junction" elementId="3"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="625.04137529" y="486.16532941" hdg="-0.97045729" length="1.84099655">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="restricted" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.20" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                        <speed sOffset="0" max="5.56"/>
+                    </lane>
+                 </right>
+            </laneSection>
+        </lanes>
+        <objects/>
+        <signals/>
+    </road>
+    <road name="" length="19.94923021" id="11184" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="7"/>
+            <successor elementType="junction" elementId="8"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="619.15941392" y="525.73200416" hdg="-1.03002562" length="19.94923021">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>
+                    </lane>
+                </center>
+                <right>
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+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="4" incomingRoad="12050" connectingRoad="15702" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+        <connection id="5" incomingRoad="12050" connectingRoad="15703" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+    </junction>
+    <junction name="9753398196" id="480">
+        <connection id="0" incomingRoad="11682" connectingRoad="15704" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+        </connection>
+    </junction>
+    <junction name="985118597" id="612">
+        <connection id="0" incomingRoad="12292" connectingRoad="15705" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+    </junction>
+    <junction name="985118614" id="576">
+        <connection id="0" incomingRoad="12296" connectingRoad="15706" contactPoint="start">
+            <laneLink from="-3" to="-1"/>
+        </connection>
+        <connection id="1" incomingRoad="12296" connectingRoad="15707" contactPoint="start">
+            <laneLink from="-3" to="-1"/>
+        </connection>
+        <connection id="2" incomingRoad="12296" connectingRoad="15708" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+            <laneLink from="-3" to="-3"/>
+        </connection>
+    </junction>
+</OpenDRIVE>
diff --git a/opencda/customize/v2x/CAservice.py b/opencda/customize/v2x/CAservice.py
deleted file mode 100644
index 3f2d862a7..000000000
--- a/opencda/customize/v2x/CAservice.py
+++ /dev/null
@@ -1,127 +0,0 @@
-import carla
-import math
-import numpy as np
-import weakref
-from threading import Thread
-from threading import Event
-from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
-
-from opencda.customize.v2x.aux import Perception
-
-
-class CAservice(object):
-    def __init__(
-            self,
-            cav,
-            V2Xagent):
-
-        self.cav = cav
-        self.V2Xagent = V2Xagent
-        self.prev_heading = -1
-        self.prev_speed = -1
-        self.prev_distance = -1
-        self.cam_sent = 0
-        self.next_cam = 0
-        self.lastCamGen = 0
-        self.max_CAM_T = 100
-
-    def checkCAMconditions(self):
-        now = self.cav.get_time_ms()
-        condition_verified = False
-        dyn_cond_verified = False
-
-        if self.prev_heading == -1 or self.prev_speed == -1 or self.prev_distance == -1:
-            return True
-
-        if now - self.lastCamGen < 100:
-            return False
-
-        head_diff = self.cav.localizer.get_ego_pos().rotation.yaw - self.prev_heading
-        head_diff += -360.0 if head_diff > 180.0 else (360.0 if head_diff < -180.0 else 0.0)
-        if head_diff > 4.0 or head_diff < -4.0:
-            return True
-
-        pos_diff = self.cav.localizer.get_ego_pos().location.distance(self.prev_distance)
-        if pos_diff > 4.0 or pos_diff < -4.0:
-            return True
-
-        speed_diff = (self.cav.localizer.get_ego_spd() - self.prev_speed) * 3.6
-        if speed_diff > 0.5 or speed_diff < -0.5:
-            return True
-
-        if not condition_verified and (now - self.lastCamGen >= self.max_CAM_T):
-            return True
-
-        return False
-
-    def processCAM(self, CAM):
-        referencePosition = CAM['referencePosition']
-        highFreqContainer = CAM['highFrequencyContainer']
-
-        # Compute the CARLA transform with the longitude and latitude values
-        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
-                                                  float(referencePosition['longitude']) / 10000000,
-                                                  referencePosition['altitude'],
-                                                  self.cav.localizer.geo_ref.latitude,
-                                                  self.cav.localizer.geo_ref.longitude, 0.0)
-
-        fromTransform = carla.Transform(
-            carla.Location(
-                x=carlaX, y=carlaY, z=referencePosition['altitude']), carla.Rotation(
-                pitch=0, yaw=float(highFreqContainer['heading']) / 10, roll=0))
-        carlaTransform = fromTransform
-        newCV = Perception(carlaTransform.location.x,
-                           carlaTransform.location.y,
-                           float(highFreqContainer['vehicleWidth']) / 10.0,
-                           float(highFreqContainer['vehicleLength']) / 10.0,
-                           CAM['timestamp'] / 1000,
-                           100,
-                           float(highFreqContainer['speed']) / 100 * math.cos(
-                               math.radians(carlaTransform.rotation.yaw)),
-                           float(highFreqContainer['speed']) / 100 * math.sin(
-                               math.radians(carlaTransform.rotation.yaw)),
-                           carlaTransform.rotation.yaw,
-                           ID=CAM['stationID'])
-        newCV.yaw = carlaTransform.rotation.yaw
-        # print('Vehicle ' + str(self.cav.vehicle.id) + ' received CAM from vehicle ' + str(CAM['stationID']))
-        self.cav.ldm_mutex.acquire()
-        # ldm_id = CAMfusion(self.cav, newCV)
-        ldm_id = self.cav.LDM.CAMfusion(newCV)
-        self.cav.ldm_mutex.release()
-        if CAM['isJoinable'] is True and self.V2Xagent.pcService is not None:
-            self.V2Xagent.pcService.updateJoinableList(ldm_id)
-        return True
-
-    def generateCAM(self):
-        referencePosition = {
-            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
-            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
-            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
-        }
-        highFreqContainer = {
-            'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
-            'speed': int(self.cav.localizer.get_ego_spd() * 100 / 3.6),
-            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),
-            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20) if self.cav.vehicle.bounding_box.extent.y > 0 else 1,
-            'acceleration': int(self.cav.localizer.get_ego_acc() * 10) if abs(self.cav.localizer.get_ego_acc() * 10) < 160 else 161,
-            'yawRate': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10)
-        }
-        cam = {
-            'type': 'CAM',
-            'stationID': int(self.cav.vehicle.id),
-            'timestamp': int((self.cav.time * 1000)) % 65536,
-            'referencePosition': referencePosition,
-            'highFrequencyContainer': highFreqContainer,
-        }
-        if self.V2Xagent.pcService is not None:
-            cam['isJoinable'] = True if self.V2Xagent.pcService.getIsJoinable() else False
-        else:
-            cam['isJoinable'] = False
-
-        # print('Vehicle ' + str(self.cav.vehicle.id) + ' sent CAM')
-        self.prev_heading = self.cav.localizer.get_ego_pos().rotation.yaw
-        self.prev_speed = self.cav.localizer.get_ego_spd()
-        self.prev_distance = self.cav.localizer.get_ego_pos().location
-        self.lastCamGen = self.cav.time * 1000
-        self.cam_sent = 0
-        return cam
diff --git a/opencda/customize/v2x/CPservice.py b/opencda/customize/v2x/CPservice.py
deleted file mode 100644
index 45e8e0aea..000000000
--- a/opencda/customize/v2x/CPservice.py
+++ /dev/null
@@ -1,217 +0,0 @@
-from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
-import math
-import carla
-import time
-import csv
-import random
-from opencda.customize.v2x.aux import Perception
-
-
-class CPservice(object):
-    def __init__(
-            self,
-            cav,
-            V2Xagent,
-            ObjInclusionConfig=1):
-        self.cav = cav
-        self.V2Xagent = V2Xagent
-        self.cpm_sent = 0
-        self.last_cpm = 0
-        self.recvCPMmap = {}
-        self.lastIncluded = []
-        self.objInclusionConfig = ObjInclusionConfig
-        self.minPositionChangeThreshold = 4.0  # meters
-        self.minGroundSpeedChangeThreshold = 0.5  # m/s
-        self.minHeadingChangeThreshold = 4.0  # degrees
-
-    def checkCPMconditions(self):
-        CPM = {}
-        if (self.cav.time * 1000) - self.last_cpm > 100:
-            if self.cav.pldm and self.cav.PLDM is not None:
-                LDM = self.cav.PLDM.getCPM()
-            else:
-                LDM = self.cav.LDM.getCPM()
-
-            if self.objInclusionConfig == 0:
-                CPM = LDM
-            else:
-                for ID, LDMobj in LDM.items():
-                    check = (
-                            LDMobj.detected and
-                            LDMobj.onSight and
-                            LDMobj.tracked and
-                            LDMobj.getLatestPoint().timestamp >= self.cav.time - 1.0
-                    )
-                    if not check:
-                        continue
-                    if ID not in self.lastIncluded or LDMobj.CPM_lastIncluded is None:
-                        CPM[ID] = LDMobj
-                        continue
-                    if self.cav.LDM.LDM[ID].CPM_lastIncluded is not None:
-                        dx = (LDMobj.perception.xPosition - self.cav.LDM.LDM[ID].CPM_lastIncluded.xPosition)
-                        dy = (LDMobj.perception.yPosition - self.cav.LDM.LDM[ID].CPM_lastIncluded.yPosition)
-                        dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
-                        if dist > self.minPositionChangeThreshold:
-                            CPM[ID] = LDMobj
-                            continue
-                        dvx = (LDMobj.perception.xSpeed - self.cav.LDM.LDM[ID].CPM_lastIncluded.xSpeed)
-                        dvy = (LDMobj.perception.ySpeed - self.cav.LDM.LDM[ID].CPM_lastIncluded.ySpeed)
-                        dv = math.sqrt(math.pow(dvx, 2) + math.pow(dvy, 2))
-                        if dv > self.minGroundSpeedChangeThreshold:
-                            CPM[ID] = LDMobj
-                            continue
-                        dheading = math.degrees(math.atan2(dvy, dvx))
-                        if dheading > self.minHeadingChangeThreshold and (math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2)) > 1.0):
-                            CPM[ID] = LDMobj
-                            continue
-                        if self.cav.LDM.LDM[ID].CPM_lastIncluded.timestamp < self.cav.time - 1.0:
-                            CPM[ID] = LDMobj
-                            continue
-            return CPM
-        else:
-            return False
-
-    def generateCPM(self, CPM):
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        # if self.cav.pldm and self.cav.PLDM is not None:
-        #     CPM = self.cav.PLDM.getCPM()
-        # else:
-        #     LDM = self.cav.LDM.getCPM()
-
-        ego_spd = ego_spd / 3.6  # km/h to m/s
-
-        POs = []
-        nPOs = 0
-
-        # IDs = random.sample(range(1, 256), 10)
-        for carlaID, LDMobj in CPM.items():
-
-            if LDMobj.ITStype == 'vehicle':
-                dx = (LDMobj.perception.xPosition - ego_pos.location.x)
-                dy = (LDMobj.perception.yPosition - ego_pos.location.y)
-                dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
-
-                heading = math.degrees(math.atan2(LDMobj.perception.ySpeed, LDMobj.perception.xSpeed))
-
-                # For debugging
-                POs.append({'ObjectID': int(LDMobj.id),
-                            'Heading': int(LDMobj.perception.heading * 10),  # In degrees/10
-                            'Yaw': int(LDMobj.perception.yaw * 10),  # In degrees/10
-                            'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
-                            'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
-                            'xAcceleration': int(LDMobj.perception.xacc * 100),
-                            'yAcceleration': int(LDMobj.perception.yacc * 100),
-                            'vehicleWidth': int(LDMobj.perception.width * 10),  # In meters/10
-                            'vehicleLength': int(LDMobj.perception.length * 10),  # In meters/10
-                            'xDistance': int(dx * 100),  # Centimeters
-                            'yDistance': int(dy * 100),  # Centimeters
-                            'confidence': int((100 - dist) if dist < 100 else 0),
-                            'timestamp': int(LDMobj.getLatestPoint().timestamp * 1000)})
-                print('Vehicle '+str(self.cav.vehicle.id) +' [CPM] ' + str(LDMobj.id) + ' heading: ' + str(LDMobj.perception.heading) + ',' + str(LDMobj.perception.yaw))
-                nPOs = nPOs + 1
-                if self.cav.pldm and self.cav.PLDM is not None:
-                    self.cav.PLDM.PLDM[LDMobj.id].CPM_lastIncluded = LDMobj.perception
-                else:
-                    self.cav.LDM.LDM[LDMobj.id].CPM_lastIncluded = LDMobj.perception
-                self.lastIncluded.append(LDMobj.id)
-                if nPOs == 10:
-                    break
-
-        referencePosition = {
-            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
-            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),  # 0,1 microdegrees
-            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),  # 0,1 microdegrees
-        }
-
-        stationData = {
-            'heading': int(ego_pos.rotation.yaw * 10),  # In degrees/10
-            'speed': int(ego_spd * 100),  # Centimeters per second
-            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),  # Centimeters
-            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20) if self.cav.vehicle.bounding_box.extent.y > 0 else 1,
-            'acceleration': int(self.cav.localizer.get_ego_acc() * 10) if abs(self.cav.localizer.get_ego_acc() * 10) < 160 else 161,
-        }
-
-        CPM = {'type': 'CPM',
-               'stationID': self.cav.vehicle.id,
-               'timestamp': int((self.cav.time * 1000)) % 65536,
-               'stationType': self.getStationType(),
-               'numberOfPOs': nPOs,
-               'perceivedObjects': POs,
-               'referencePosition': referencePosition,
-               'stationData': stationData}
-        # print(CPM, '\n')
-        self.last_cpm = self.cav.time * 1000
-        return CPM
-
-    def processCPM(self, CPM):
-        referencePosition = CPM['referencePosition']
-        stationData = CPM['stationData']
-        newPOs = []
-        t_parse = 0
-        t_fusion = 0
-        # Compute the CARLA transform with the longitude and latitude values
-        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
-                                                  float(referencePosition['longitude']) / 10000000,
-                                                  referencePosition['altitude'],
-                                                  self.cav.localizer.geo_ref.latitude,
-                                                  self.cav.localizer.geo_ref.longitude, 0.0)
-        carlaTransform = carla.Transform(
-            carla.Location(
-                x=carlaX, y=carlaY, z=carlaZ),
-            carla.Rotation(
-                pitch=0, yaw=float(stationData['heading']) / 10, roll=0))
-        if 'perceivedObjects' in CPM:
-            init_t = time.time_ns() / 1000
-            for CPMobj in CPM['perceivedObjects']:
-                if CPMobj['ObjectID'] == self.cav.vehicle.id:
-                    continue
-                # Convert CPM relative values to absolute CARLA values to then match/fusion with LDMobjects
-                xPos = carlaTransform.location.x + float(CPMobj['xDistance']) / 100
-                yPos = carlaTransform.location.y + float(CPMobj['yDistance']) / 100
-
-                if CPMobj['vehicleWidth'] == 0 or CPMobj['vehicleLength'] == 0:
-                    continue
-                # CPM object converted to LDM format
-                newPO = Perception(xPos,
-                                   yPos,
-                                   float(CPMobj['vehicleWidth']) / 10,
-                                   float(CPMobj['vehicleLength']) / 10,
-                                   float(CPMobj['timestamp']) / 1000,
-                                   float(CPMobj['confidence']),
-                                   ID=CPMobj['ObjectID'])
-
-                newPO.xSpeed = float(CPMobj['xSpeed']) / 100
-                newPO.ySpeed = float(CPMobj['ySpeed']) / 100
-                newPO.xacc = float(CPMobj['xAcceleration']) / 100
-                newPO.yacc = float(CPMobj['yAcceleration']) / 100
-                newPO.heading = float(CPMobj['Heading']) / 10
-                newPO.yaw = float(CPMobj['Heading']) / 10
-                newPOs.append(newPO)
-            t_parse += time.time_ns() / 1000 - init_t
-            init_t = time.time_ns() / 1000
-
-            self.recvCPMmap[CPM['stationID']] = newPOs
-            self.cav.ldm_mutex.acquire()
-            self.cav.LDM.CPMfusion(newPOs, CPM['stationID'])
-            self.cav.ldm_mutex.release()
-            t_fusion += time.time_ns() / 1000 - init_t
-
-        return t_parse, t_fusion
-
-    def getStationType(self):
-        stationType = 5  # passengerCar
-        if self.cav.vehicle.attributes['number_of_wheels'] == 2:
-            if self.cav.vehicle.type_id.find('crossbike') != -1 or \
-                    self.cav.vehicle.type_id.find('gazelle') != -1 or \
-                    self.cav.vehicle.type_id.find('diamondback') != -1:
-                stationType = 2  # bicycle
-            else:
-                stationType = 4  # motorcycle
-        if self.cav.vehicle.type_id.find('firetruck') != -1 or \
-                self.cav.vehicle.type_id.find('police') != -1 or \
-                self.cav.vehicle.type_id.find('ambulance') != -1:
-            stationType = 10  # specialVehicle
-        if self.cav.vehicle.type_id.find('carlacola') != -1:
-            stationType = 7  # light truck
-
-        return stationType
diff --git a/opencda/customize/v2x/PCservice.py b/opencda/customize/v2x/PCservice.py
deleted file mode 100644
index 461c6fd4d..000000000
--- a/opencda/customize/v2x/PCservice.py
+++ /dev/null
@@ -1,374 +0,0 @@
-import carla
-import math
-import numpy as np
-import weakref
-from threading import Thread
-from threading import Event
-
-from opencda.customize.platooning.states import FSM
-from collections import deque
-
-
-class PCservice(object):
-    def __init__(
-            self,
-            cav,
-            V2Xagent):
-        self.cav = cav
-        self.V2Xagent = V2Xagent
-        self.pcm_sent = 0
-        self.last_pcm = 0
-        self.isJoinable = False
-        self.joinableList = set()
-
-        # whether leader in a platoon
-        self.leader = False
-        self.PCMap = {}  # Map containing the last 10 PCM received from each PM
-        self.platooning_id = None
-        self.leader_id = None
-        self.platoon_position = None
-        self.status = FSM.SEARCHING
-
-        self.platoon_list = {}
-        self.maximum_capacity = 10
-
-        self.destination = None
-        self.center_loc = None
-
-        # this is used to control platooning speed during joining
-        self.leader_target_speed = 0
-        self.origin_leader_target_speed = 0
-        self.recover_speed_counter = 0
-
-        # the platoon in the black list won't be considered again
-        self.platooning_blacklist = []
-
-        # used to label the front and rear vehicle position
-        self.front_vehicle = None
-        self.front_front_vehicle = None
-        self.rear_vehicle = None
-        self.leader_vehicle = None
-
-        self.join_req_counter = 0
-        self.last_join_req = 0
-        self.requestTO = None
-
-        self.join_resp_counter = 0
-        self.last_join_resp = 0
-        self.responseTO = 0
-
-        self.last_tx_pcm = 0
-        self.last_rx_pcm = 0
-
-        self.leave_flag = False
-        self.leave_pcm_counter = 0
-
-        self.leave_counter = 0
-        self.last_leave_msg = 0
-
-    def getIsJoinable(self):
-        return self.isJoinable
-
-    def updateJoinableList(self, id):
-        self.joinableList.add(id)
-
-    def getPlatoonStatus(self):
-        return self.status
-
-    def checkJoinConditions(self):
-        """
-        Check conditions for joining a platoon.
-        For now this means to check if we are behind a joinable vehicle.
-        Returns
-        -------
-
-        """
-        # TODO: check which of the vehicles in front is closer
-        self.cav.ldm_mutex.acquire()
-        ldm = self.cav.get_context()
-        self.cav.ldm_mutex.release()
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        best_id = None
-        furthest = 0
-        for id in self.joinableList:
-            if id in ldm:
-                # Calculate vector from obj1 to obj2
-                diff = [ldm[id].xPosition - ego_pos.location.x, ldm[id].yPosition - ego_pos.location.y]
-                magnitude = math.sqrt(diff[0] ** 2 + diff[1] ** 2)
-                normalized = [diff[0] / magnitude, diff[1] / magnitude]
-                heading_vector = [math.cos(math.radians(ego_pos.rotation.yaw)),
-                                  math.sin(math.radians(ego_pos.rotation.yaw))]
-                # Calculate dot product
-                dot_product = normalized[0] * heading_vector[0] + normalized[1] * heading_vector[1]
-                if dot_product > 0:
-                    # ldm[id] is in front
-                    if magnitude > furthest:
-                        best_id = id
-                        furthest = magnitude
-
-        return best_id
-
-    def run_step(self):
-        if self.status == FSM.SEARCHING:
-            self.isJoinable = True
-            if self.joinableList:
-                # If CAMs with the isJoinable flag have been received, check if any of those vehicles are in front
-                id = self.checkJoinConditions()
-                if id:
-                    # If vehicle id is in front, trigger JOIN request
-                    self.requestTO = id
-                    self.status = FSM.JOIN_REQUEST
-                    self.join_req_counter = 0
-
-        if self.status == FSM.JOIN_REQUEST:
-            if (self.last_join_req + 100 <= self.cav.get_time_ms()) and (self.join_req_counter < 10):
-                self.sendPMM('JOIN_REQ')
-            elif self.join_req_counter == 10:
-                self.status = FSM.SEARCHING
-                self.requestTO = None
-
-        if self.status == FSM.JOIN_RESPONSE:
-            # self.leader = True
-            if (self.last_join_resp + 100 <= self.cav.get_time_ms()) and (self.join_resp_counter < 10):
-                self.sendPMM('JOIN_RESP')
-            if self.join_resp_counter >= 10:
-                if self.platoon_position == 1:
-                    self.status = FSM.LEADING_MODE
-                else:
-                    self.status = FSM.MAINTINING
-                self.isJoinable = False
-
-        if self.status == FSM.BACK_JOINING or self.status == FSM.JOINING_FINISHED:
-            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
-                self.sendPCM()
-
-        if self.status == FSM.MAINTINING or self.status == FSM.LEADING_MODE:  # ENSEMBLE'S PLATOON
-            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
-                self.sendPCM()
-            if self.get_lost_rx_pcm():
-                self.status = FSM.LEAVE
-            if self.platoon_list:
-                if self.platoon_position > max(self.platoon_list.keys()) and self.pcm_sent > 5:
-                    self.isJoinable = True
-
-        if self.status == FSM.LEAVE_REQUEST:
-            if self.last_tx_pcm + 50 <= self.cav.get_time_ms():
-                self.sendPCM(leave=True)
-            if self.leave_pcm_counter == 10:
-                self.status = FSM.LEAVE
-
-        if self.status == FSM.LEAVE:
-            if (self.last_leave_msg + 100 <= self.cav.get_time_ms()) and (self.leave_counter < 10):
-                self.sendPMM('LEAVE')
-            if self.leave_counter == 10:
-                self.status = FSM.SEARCHING
-
-    def get_lost_rx_pcm(self):
-        # print(self.PCMap.items())
-        for id, pm in self.PCMap.items():
-            if pm[(len(self.PCMap[id]) - 1)]['timestamp'] <= (
-                    (int(self.cav.get_time_ms()) % 65536) - 500):  # if older than 500ms
-                return False
-        return False
-
-    def sendPCM(self, leave=False):
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        trajectory = self.cav.agent.get_local_planner().get_trajectory()
-        trajectory_array = []
-        for point in trajectory:
-            trajectory_array.append({
-                "x": float(point[0].location.x),
-                "y": float(point[0].location.y),
-                "s": float(point[1])
-            })
-        referencePosition = {
-            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
-            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
-            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
-            # Aux fields until I find a way to convert geodesic to cartesian within CARLA
-            'carlaX': float(ego_pos.location.x),
-            'carlaY': float(ego_pos.location.y)
-        }
-        longitudinalControlContainer = {
-            'grossCombinationVehicleWeight': False,
-            'currentLongitudinalAcceleration': int(self.cav.localizer.get_ego_acc() * 100 /3.6),
-            'predictedLongitudinalAcceleration': False,
-            'longitudinalSpeed': int(self.cav.localizer.get_ego_spd() * 100 / 3.6),
-            'powerToMassRatio': False,
-            'brakeCapacity': False,
-            'roadInclination': False,
-            'referenceSpeed': False,
-            'intruderAhead': False,
-            'vehicleAhead': False,
-        }
-        platoonControlContainer = {
-            'referencePosition': referencePosition,
-            'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
-            'timestamp': int(self.cav.get_time_ms()) % 65536,
-            'sequenceNumber': self.pcm_sent,
-            'platoonPosition': self.platoon_position,
-            'stationID': int(self.cav.vehicle.id),
-            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),
-            'longitudinalControl': longitudinalControlContainer,
-            'aboutToLeave': leave,
-        }
-        PCM = {
-            'type': 'PCM',
-            'stationID': int(self.cav.vehicle.id),
-            'timestamp': int(self.cav.get_time_ms()) % 65536,
-            'platoonControlContainer': platoonControlContainer,
-            'trajectory': trajectory_array
-        }
-        self.last_pcm = self.cav.get_time_ms()
-        # self.V2Xagent.AMQPhandler.platoonControl_sender(PCM)
-        self.V2Xagent.send_buffer.append(PCM)
-        self.V2Xagent.send_event.set()
-        self.pcm_sent += 1
-
-    def processPCM(self, pcm):
-        # if (self.status == FSM.LEADING_MODE) or (self.status == FSM.MAINTINING) or (
-        #         self.status == FSM.JOIN_REQUEST) or (self.status == FSM.BACK_JOINING):
-        if self.status != FSM.SEARCHING:
-            if pcm['stationID'] in self.PCMap:
-                self.PCMap[int(pcm['stationID'])].append(pcm)
-            else:
-                self.PCMap[int(pcm['stationID'])] = deque([pcm], maxlen=10)
-
-            self.platoon_list[pcm['platoonControlContainer']['platoonPosition']] = pcm['stationID']
-
-            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 1:
-                self.front_vehicle = pcm
-            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 2:
-                self.front_front_vehicle = pcm
-            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position + 1:
-                self.rear_vehicle = pcm
-            if pcm['platoonControlContainer']['platoonPosition'] == 1:
-                self.leader_vehicle = pcm
-        return True
-
-    def sendPMM(self, type):
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        referencePosition = {
-            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
-            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),
-            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),
-            # Aux fields until I find a way to convert geodesic to cartesian within CARLA
-            'carlaX': float(ego_pos.location.x),
-            'carlaY': float(ego_pos.location.y)
-        }
-        message = None
-        if type == 'JOIN_REQ':
-            message = self.sendJOINreq()
-        if type == 'JOIN_RESP':
-            message = self.sendJOINresp()
-        if type == 'LEAVE':
-            message = self.sendLEAVEmsg()
-
-        PMM = {'type': 'PMM',
-               'stationID': int(self.cav.vehicle.id),
-               'timestamp': int(self.cav.get_time_ms()) % 65536,
-               'referencePosition': referencePosition,
-               'heading': int(self.cav.localizer.get_ego_pos().rotation.yaw * 10),
-               'messageType': type,
-               'message': message
-               }
-        # self.V2Xagent.AMQPhandler.platoonControl_sender(PMM)
-        self.V2Xagent.send_buffer.append(PMM)
-        self.V2Xagent.send_event.set()
-
-    def sendJOINreq(self):
-
-        joinRequest = {
-            'receiver': self.requestTO,
-            'brakeCapacity': False,  # Unavailable
-            'powerToMassRatio': False,  # Unavailable
-            'platooningLevel': int(0),  # longitudinalOnly
-            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20)
-        }
-
-        self.join_req_counter += 1
-        self.last_join_req = self.cav.get_time_ms()
-        return joinRequest
-
-    def sendJOINresp(self):
-        joinResponseStatus = {
-            'symmetricKey': False,
-            'frequencyChannel': False,
-            'platoonId': int(0),  # TODO: find a criteria to generate platoon id
-            'maxNofVehiclesInPlatoon': int(self.maximum_capacity),
-            'joiningPosition': int(self.platoon_position + 1)
-        }
-        joinResponse = {
-            'respondingTo': self.responseTO,
-            'joinResponseStatus': joinResponseStatus
-        }
-
-        self.join_resp_counter += 1
-        self.last_join_resp = self.cav.get_time_ms()
-        return joinResponse
-
-    def sendLEAVEmsg(self):
-        leaveRequest = {
-            'vehicleId': int(self.cav.vehicle.id),
-            'platoonPosition': int(self.platoon_position),
-            'reason': 'unavailable'
-        }
-        self.leave_counter += 1
-        return leaveRequest
-
-    def processPMM(self, pmm):
-        if pmm['messageType'] == 'JOIN_REQ':
-            self.processJOINreq(pmm)
-        if pmm['messageType'] == 'JOIN_RESP':
-            self.processJOINresp(pmm)
-        if pmm['messageType'] == 'LEAVE':
-            self.processLEAVE(pmm)
-        return True
-
-    def processJOINreq(self, pmm):
-        join_req = pmm['message']
-        if join_req['receiver'] == int(self.cav.vehicle.id):
-            if self.status == FSM.SEARCHING or self.status == FSM.LEADING_MODE:
-                self.leader = True
-                self.platoon_list[1] = (int(self.cav.vehicle.id))
-                self.platoon_list[2] = (int(pmm['stationID']))
-                self.platoon_position = 1
-                self.responseTO = pmm['stationID']
-                self.status = FSM.JOIN_RESPONSE
-                self.sendPMM('JOIN_RESP')
-            # TODO: consider the case where a JOIN_REQ is received while performing a JOIN
-            # e.g. for the case where 2 vehicles want to join, for now we do first req first served
-            elif self.status == FSM.MAINTINING:
-                self.platoon_list[self.platoon_position+1] = (int(pmm['stationID']))
-                self.responseTO = pmm['stationID']
-                self.status = FSM.JOIN_RESPONSE
-                self.sendPMM('JOIN_RESP')
-        return True
-
-    def processJOINresp(self, pmm):
-        join_resp = pmm['message']
-        status = join_resp['joinResponseStatus']
-        if join_resp['respondingTo'] == int(self.cav.vehicle.id):
-            if self.status == FSM.JOIN_REQUEST:
-                self.status = FSM.BACK_JOINING  # To start the JOINING
-                self.platoon_position = status['joiningPosition']
-                if status['joiningPosition'] == 'maxNofVehiclesInPlatoon':
-                    self.isJoinable = False
-                self.platoon_list[status['joiningPosition']-1] = (int(pmm['stationID']))
-        return True
-
-    def processLEAVE(self, pmm):
-        if self.status == FSM.MAINTINING:
-            # If someone in front of the receiving vehicle wants to leave, ego vehicle leaves too
-            if self.PCMap[pmm['message']['platoonPosition']] < self.platoon_position:
-                self.status = FSM.LEAVE
-        if self.status == FSM.LEADING_MODE:
-            if self.PCMap[pmm['message']['platoonPosition']] == 2:
-                self.status = FSM.LEAVE
-            else:
-                if pmm['stationID'] in self.PCMap:
-                    del self.PCMap[pmm['stationID']]
-                if pmm['stationID'] in self.platoon_list:
-                    self.platoon_list.remove(pmm['stationID'])
-
-        return True
diff --git a/opencda/customize/v2x/PLDMservice.py b/opencda/customize/v2x/PLDMservice.py
deleted file mode 100644
index b3993afdf..000000000
--- a/opencda/customize/v2x/PLDMservice.py
+++ /dev/null
@@ -1,965 +0,0 @@
-from opencda.customize.v2x.aux import PLDMentry
-from opencda.customize.v2x.aux import Perception
-from opencda.customize.v2x.PLDM import PLDM
-from opencda.core.sensing.localization.coordinate_transform import geo_to_transform
-import math
-import carla
-import psutil
-import numpy as np
-from opencda.customize.v2x.LDMutils import compute_IoU
-from opencda.customize.v2x.LDMutils import PO_kalman_filter
-from opencda.customize.v2x.LDMutils import get_o3d_bbx
-from scipy.optimize import linear_sum_assignment as linear_assignment
-from opencda.customize.v2x.aux import newPLDMentry
-import time
-import numpy as np
-import random
-import copy
-
-
-def cpu_cost_single(P, alpha, gamma, n, m):
-    return (alpha[n] + gamma[n] * np.sum(P, axis=0)[m]) / 100
-
-
-def distance_cost_single(D, i, j):
-    Dt = 0
-    while Dt < 1:
-        Dt = D[i, j] + random.randint(-10, 10)
-    if Dt > 100:
-        Dt = 100
-    return Dt / 100
-
-
-def cost_single(P, D, alpha, gamma, i, j, weights):
-    return weights[0] * cpu_cost_single(P, alpha, gamma, i, j) + \
-        weights[1] * distance_cost_single(D, i, j)
-
-
-def get_value_by_index(A, target_index):
-    for item in A:
-        if item[0] == target_index:
-            return item[1]
-    return None  # Return None if the index is not found
-
-
-def get_cpu_by_index(A, target_index):
-    for item in A:
-        if item[0] == target_index:
-            return item[2]
-    return None  # Return None if the index is not found
-
-
-class PLDMservice(object):
-    def __init__(
-            self,
-            cav,
-            V2Xagent):
-        self.cav = cav
-        self.V2Xagent = V2Xagent
-        self.leader = False
-        self.leaderSeqNum = 0
-        self.recvSeqNum = 0
-        self.recv_plu = 0
-        self.recv_plu_ids = []
-        self.recv_pmu = {}
-        self.last_plu = 0
-        self.last_pmu = 0
-        self.last_assigment = 0
-        self.PMs = []
-        self.pldm = PLDM(self.cav, self.V2Xagent, visualize=self.cav.lidar_visualize)
-        self.cav.PLDM = self.pldm
-        self.assignment_weights = [0.5, 0.5]
-
-    def setLeader(self, leader):
-        self.leader = leader
-        self.pldm.leader = leader
-
-    def runStep(self):
-        if self.leader and self.cav.get_time_ms() - self.last_plu > 100:
-            # if len(set(self.recv_pmu.values())) <= 1:
-            # Only send PLU if we have received a PMU from all PMs
-            self.generatePLU()
-            self.leaderSeqNum += 1
-        if self.leader and self.cav.get_time_ms() - self.last_assigment > 2000:
-            self.assignPOs()
-            self.last_assigment = self.cav.get_time_ms()
-
-    def assignPOs(self):
-        self.optDwell()
-        self.balance_resp_pos()
-
-        # self.opt_assginment()
-
-        # For debugging
-        resp = self.get_all_PM_resp_state()
-        print('PM resp: ')
-        for PM, POs in resp:
-            print('PM ', PM, ' POs ', [PO.id for PO in POs if PO.tracked])
-
-    def get_perception_matrix(self, allPOs):
-        P = np.zeros((len(self.PMs), len(allPOs)), dtype=int)
-        for PO in allPOs:
-            for PM in PO.perceivedBy:
-                if PM in self.PMs:
-                    P[self.PMs.index(PM), allPOs.index(PO)] = 1
-        return P
-
-    def get_distance_matrix(self, allPOs):
-        D = np.zeros((len(self.PMs), len(allPOs)), dtype=float)
-        for PO in allPOs:
-            POpredX = PO.perception.xPosition + PO.perception.xSpeed  # Predicted position in 1 second
-            POpredY = PO.perception.yPosition + PO.perception.ySpeed
-            # POpredbbx = self.cav.LDMobj_to_o3d_bbx(PO.perception)
-            assocPMs = PO.perceivedBy
-            for assocPM in assocPMs:
-                if assocPM in self.pldm.PLDM:
-                    PMpredX = self.pldm.PLDM[assocPM].perception.xPosition + self.pldm.PLDM[
-                        assocPM].perception.xSpeed  # Predicted position in 1 second
-                    PMpredY = self.pldm.PLDM[assocPM].perception.yPosition + self.pldm.PLDM[assocPM].perception.ySpeed
-                    # PMpredbbx = self.cav.LDMobj_to_o3d_bbx(self.pldm.PLDM[assocPM].perception)
-                    D[self.PMs.index(assocPM), allPOs.index(PO)] = math.sqrt(
-                        math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
-        return D
-
-    def cpu_cost_all(self, P, alpha, gamma):
-        N, M = P.shape
-        C = np.zeros((N, M))
-        for n in range(N):
-            for m in range(M):
-                C[n][m] = (alpha[n] + gamma[n] * np.sum(P, axis=0)[m]) * P[n, m]
-        return C
-
-    def assignX(self, X, allPOs):
-        for i in range(len(X)):
-            for j in range(len(X[i])):
-                if X[i][j] == 1:
-                    self.pldm.PLDM[allPOs[j].id].assignedPM = self.PMs[i]
-
-    def opt_assginment(self):
-        allPOs = self.getAllPOs()
-        P = self.get_perception_matrix(allPOs)
-        D = self.get_distance_matrix(allPOs)
-        alpha = np.ones(len(self.PMs))
-        gamma = np.ones(len(self.PMs))
-        N, M = P.shape
-        card = (np.sum(P, axis=0))
-        R = []
-        i = 0
-        for r in card:
-            R.append([i, r])
-            i += 1
-        R = sorted(R, key=lambda x: x[1])  # Sorted objects by number of candidates (by Redundancy)
-        C = self.cpu_cost_all(P, alpha, gamma)  # CPU cost matrix
-        CNs = np.zeros(N)  # Current cpu cost of each node
-        X = np.zeros((N, M), dtype=int)  # Empty assignment matrix
-        # For each obj in order of fewer candidates to more candidates
-        for obj in R:
-            m = obj[0]  # Index of the object
-            assignable = [n for n in range(N) if P[n, m] == 1]  # List of assignable nodes
-            single_costs = []
-            for n in assignable:
-                if CNs[n] + C[n][m] <= 200:  # Max cpu cost available constraint
-                    single_costs.append([n, cost_single(P, D, alpha, gamma, n, m, self.assignment_weights),
-                                         C[n][m]])
-            # Sort the nodes
-            single_costs = sorted(single_costs, key=lambda x: x[1])
-            if len(single_costs) == 0:
-                return None, C
-            # If there's no other object assigned to the node, assign it
-            if np.sum(X, axis=1)[single_costs[0][0]] == 0:
-                X[single_costs[0][0], m] = 1
-                CNs[single_costs[0][0]] += single_costs[0][2]
-            else:
-                # Else check fairness cost
-                fairness_costs = []
-                for n in single_costs:
-                    Cavg = 0
-                    for i in range(N):
-                        if i != n[0]:
-                            Cavg += CNs[i]
-                    Cavg = Cavg / (N - 1)
-                    fairness_costs.append([n[0], abs((CNs[n[0]] + n[2]) - Cavg)])
-                fairness_costs = sorted(fairness_costs, key=lambda x: x[1])
-                # If the fairness cost is lower, assign it
-                if get_value_by_index(single_costs, fairness_costs[0][0]) - single_costs[0][1] > \
-                        get_value_by_index(fairness_costs, single_costs[0][0]) - fairness_costs[0][1] and \
-                        CNs[single_costs[0][0]] + single_costs[0][2] <= 1:
-                    X[single_costs[0][0], m] = 1
-                    CNs[single_costs[0][0]] += single_costs[0][2]
-                else:
-                    # Else assign the one with the lowest CPU cost
-                    X[fairness_costs[0][0], m] = 1
-                    CNs[fairness_costs[0][0]] += get_cpu_by_index(single_costs, fairness_costs[0][0])
-
-        self.assignX(X, allPOs)
-
-    def getAssignedPOs(self):
-        POs = []
-        for ID, PLDMobj in self.pldm.PLDM.items():
-            if PLDMobj.detected and PLDMobj.assignedPM == self.cav.vehicle.id:
-                POs.append(PLDMobj)
-        return POs
-
-    def getAllPOs(self):
-        POs = []
-        for ID, PLDMobj in self.pldm.PLDM.items():
-            if PLDMobj.detected:
-                POs.append(PLDMobj)
-        return POs
-
-    def optDwell(self):
-        allPOs = self.getAllPOs()
-        for PO in allPOs:
-            POpredX = PO.perception.xPosition + PO.perception.xSpeed  # Predicted position in 1 second
-            POpredY = PO.perception.yPosition + PO.perception.ySpeed
-            # POpredbbx = self.cav.LDMobj_to_o3d_bbx(PO.perception)
-            assocPMs = PO.perceivedBy
-            dists = {}
-            for assocPM in assocPMs:
-                if assocPM in self.pldm.PLDM:
-                    PMpredX = self.pldm.PLDM[assocPM].perception.xPosition + self.pldm.PLDM[
-                        assocPM].perception.xSpeed  # Predicted position in 1 second
-                    PMpredY = self.pldm.PLDM[assocPM].perception.yPosition + self.pldm.PLDM[assocPM].perception.ySpeed
-                    # PMpredbbx = self.cav.LDMobj_to_o3d_bbx(self.pldm.PLDM[assocPM].perception)
-                    dists[assocPM] = math.sqrt(math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
-
-            if PO.assignedPM == self.cav.vehicle.id:
-                ego_pos, ego_spd, objects = self.cav.getInfo()
-                PMpredX = ego_pos.location.x + ego_spd * math.cos(
-                    math.radians(ego_pos.rotation.yaw))  # Predicted position in 1 second
-                PMpredY = ego_pos.location.y + ego_spd * math.sin(math.radians(ego_pos.rotation.yaw))
-                dists[self.cav.vehicle.id] = math.sqrt(
-                    math.pow((POpredX - PMpredX), 2) + math.pow((POpredY - PMpredY), 2))
-
-            if dists:
-                closest_PM = min(dists, key=dists.get)
-                if closest_PM != PO.assignedPM:
-                    # Update PO entry in pLDM
-                    PO.assignedPM = closest_PM
-
-    def get_all_PM_resp_state(self):
-        pm_resps = {}
-        pm_resps[self.cav.vehicle.id] = []
-        for PM in self.PMs:
-            pm_resps[PM] = []
-
-        for ID, PO in self.pldm.PLDM.items():
-            if PO.detected:
-                pm_resps[PO.assignedPM].append(PO)
-
-        sorted_items = sorted(pm_resps.items(), key=lambda item: len(item[1]), reverse=True)
-
-        pm_resps_ordered = [(key, value) for key, value in sorted_items]
-
-        return pm_resps_ordered
-
-    def balance_resp_pos(self):
-        pm_resps = self.get_all_PM_resp_state()
-
-        for PM_most, assignedPOs_most in pm_resps:
-            if len(assignedPOs_most) < 2:
-                return
-
-            for PM_least, assignedPOs_least in reversed(pm_resps):
-                if len(assignedPOs_most) - len(assignedPOs_least) < 2:
-                    return
-
-                for PO in assignedPOs_most:
-                    if PM_least in PO.perceivedBy:
-                        PO.assignedPM = PM_least
-                        break
-
-        pm_resps = self.get_all_PM_resp_state()
-        return pm_resps
-
-    def generatePLU(self):
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        PLDM = self.pldm.PLDM
-
-        ego_spd = ego_spd / 3.6  # km/h to m/s
-
-        POs = []
-        PMs = []
-        CVs = []
-
-        for carlaID, LDMobj in PLDM.items():
-            if LDMobj.detected is False:
-                if LDMobj.PM:
-                    PMs.append(LDMobj.id)
-                else:
-                    CVs.append(LDMobj.id)
-                continue
-            if LDMobj.getLatestPoint().timestamp < self.cav.time - 1.0 or not LDMobj.tracked:
-                continue
-
-            dx = (LDMobj.perception.xPosition - ego_pos.location.x)
-            dy = (LDMobj.perception.yPosition - ego_pos.location.y)
-            dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
-
-            geoPos = self.cav.carla_map.transform_to_geolocation(carla.Location(
-                x=LDMobj.perception.xPosition, y=LDMobj.perception.yPosition, z=0))
-
-            referencePosition = {
-                'altitude': geoPos.altitude,
-                'longitude': int(geoPos.longitude * 10000000),  # 0,1 microdegrees
-                'latitude': int(geoPos.latitude * 10000000),  # 0,1 microdegrees
-                'carlaX': LDMobj.perception.xPosition,
-                'carlaY': LDMobj.perception.yPosition
-            }
-            # speed = math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2))
-
-            POs.append({'ObjectID': int(LDMobj.id),
-                        'Heading': LDMobj.perception.heading * 10,  # In degrees/10
-                        'Yaw': LDMobj.perception.yaw * 10,  # In degrees/10
-                        'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
-                        'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
-                        'xAcceleration': int(LDMobj.perception.xacc * 100),
-                        'yAcceleration': int(LDMobj.perception.yacc * 100),
-                        'vehicleWidth': LDMobj.perception.width * 10,  # In meters/10
-                        'vehicleLength': LDMobj.perception.length * 10,  # In meters/10
-                        'referencePosition': referencePosition,
-                        'confidence': (100 - dist) if dist < 100 else 0,
-                        'assocPMs': LDMobj.perceivedBy,
-                        'assignedPM': LDMobj.assignedPM,
-                        'timestamp': LDMobj.getLatestPoint().timestamp * 1000})
-
-        referencePosition = {
-            'altitude': self.cav.localizer.get_ego_geo_pos().altitude,
-            'longitude': int(self.cav.localizer.get_ego_geo_pos().longitude * 10000000),  # 0,1 microdegrees
-            'latitude': int(self.cav.localizer.get_ego_geo_pos().latitude * 10000000),  # 0,1 microdegrees
-        }
-
-        stationData = {
-            'heading': int(ego_pos.rotation.yaw * 10),  # In degrees/10
-            'speed': int(ego_spd * 100),  # Centimeters per second
-            'vehicleLength': int(self.cav.vehicle.bounding_box.extent.x * 20),  # Centimeters
-            'vehicleWidth': int(self.cav.vehicle.bounding_box.extent.y * 20),  # Centimeters
-            'referencePosition': referencePosition
-        }
-
-        PLU = {'type': 'PLU',
-               'stationID': self.cav.vehicle.id,
-               'timestamp': self.cav.time * 1000,
-               'perceivedObjects': POs,
-               'stationData': stationData,
-               'PMs': PMs,
-               'CVs': CVs,
-               'seqNum': self.leaderSeqNum}
-
-        print('Vehicle ', self.cav.vehicle.id, ':')
-        print('POs')
-        for PO in POs:
-            print(PO)
-        self.last_plu = self.cav.time * 1000
-        # self.V2Xagent.AMQPhandler.platoonControl_sender(PLU)
-        self.V2Xagent.send_buffer.append(PLU)
-        self.V2Xagent.send_event.set()
-        # print('PLU sent by ', self.cav.vehicle.id, ', tst ', PLU['timestamp'], ', seqNum ', self.leaderSeqNum)
-
-    def generatePMU(self):
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        PLDM = self.pldm.PLDM
-
-        ego_spd = ego_spd / 3.6  # km/h to m/s
-
-        assignedPOs = []
-        newPOs = []
-        perceivedPOs = []
-
-        for carlaID, LDMobj in PLDM.items():
-            if not LDMobj.detected or not LDMobj.tracked:
-                continue
-
-            if LDMobj.onSight:
-                perceivedPOs.append(LDMobj.id)
-            if LDMobj.assignedPM == self.cav.vehicle.id or LDMobj.newPO:
-                dx = (LDMobj.perception.xPosition - ego_pos.location.x)
-                dy = (LDMobj.perception.yPosition - ego_pos.location.y)
-                dist = math.sqrt(math.pow(dx, 2) + math.pow(dy, 2))
-
-                geoPos = self.cav.carla_map.transform_to_geolocation(carla.Location(
-                    x=LDMobj.perception.xPosition, y=LDMobj.perception.yPosition, z=0))
-
-                referencePosition = {
-                    'altitude': geoPos.altitude,
-                    'longitude': int(geoPos.longitude * 10000000),  # 0,1 microdegrees
-                    'latitude': int(geoPos.latitude * 10000000),  # 0,1 microdegrees
-                    'carlaX': LDMobj.perception.xPosition,
-                    'carlaY': LDMobj.perception.yPosition
-                }
-                # speed = math.sqrt(math.pow(LDMobj.perception.xSpeed, 2) + math.pow(LDMobj.perception.ySpeed, 2))
-
-                PO = {'ObjectID': int(LDMobj.id),
-                      'Heading': LDMobj.perception.heading * 10,  # In degrees/10
-                      'Yaw': LDMobj.perception.yaw * 10,  # In degrees/10
-                      'xSpeed': int(LDMobj.perception.xSpeed * 100),  # Centimeters per second
-                      'ySpeed': int(LDMobj.perception.ySpeed * 100),  # Centimeters per second
-                      'xAcceleration': int(LDMobj.perception.xacc * 100),
-                      'yAcceleration': int(LDMobj.perception.yacc * 100),
-                      'vehicleWidth': LDMobj.perception.width * 10,  # In meters/10
-                      'vehicleLength': LDMobj.perception.length * 10,  # In meters/10
-                      'referencePosition': referencePosition,
-                      'confidence': (100 - dist) if dist < 100 else 0,
-                      'assocPMs': LDMobj.perceivedBy,
-                      'assignedPM': LDMobj.assignedPM,
-                      'timestamp': LDMobj.getLatestPoint().timestamp * 1000}
-
-                if LDMobj.newPO:
-                    newPOs.append(PO)
-                else:
-                    assignedPOs.append(PO)
-
-        PMstate = {'cpuLoad': psutil.cpu_percent(interval=0.1),
-                   'perceivedPOs': perceivedPOs,
-                   'numberOfAssignedPOs': len(assignedPOs)}
-
-        PMU = {'type': 'PMU',
-               'stationID': self.cav.vehicle.id,
-               'timestamp': self.cav.get_time_ms(),
-               'assignedPOs': assignedPOs,
-               'newPOs': newPOs,
-               'PMstate': PMstate,
-               'seqNum': self.recvSeqNum}
-
-        print('Vehicle ', self.cav.vehicle.id, ':')
-        if assignedPOs:
-            print('Assigned POs')
-        for PO in assignedPOs:
-            print(PO)
-        if newPOs:
-            print('New POs')
-        for PO in newPOs:
-            print(PO)
-        print(PMstate)
-
-        self.last_pmu = self.cav.time * 1000
-        # self.V2Xagent.AMQPhandler.platoonControl_sender(PMU)
-        self.V2Xagent.send_buffer.append(PMU)
-        self.V2Xagent.send_event.set()
-        # print('PMU sent by ', self.cav.vehicle.id, ', tst ', PMU['timestamp'], ', seqNum ', self.recvSeqNum)
-
-    def processPLU(self, PLU):
-        if self.leader:
-            return
-        self.recv_plu += 1
-        self.recvSeqNum = PLU['seqNum']
-        # print('PLU received by ', self.cav.vehicle.id, ', tst ', PLU['timestamp'], ', seqNum ', PLU['seqNum'],
-        #       ',time ', self.cav.get_time_ms())
-        t_update = 0
-        t_new = 0
-        self.cav.pldm_mutex.acquire()
-        newPLUids = []
-        if 'perceivedObjects' in PLU:
-            for PLUobj in PLU['perceivedObjects']:
-                if PLUobj['ObjectID'] in self.recv_plu_ids:
-                    continue
-                else:
-                    self.recv_plu_ids.append(PLUobj['ObjectID'])
-                    newPLUids.append(PLUobj)
-            for PLUobj in newPLUids:
-                carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
-                                                          float(
-                                                              PLUobj['referencePosition']['longitude']) / 10000000,
-                                                          PLUobj['referencePosition']['altitude'],
-                                                          self.cav.localizer.geo_ref.latitude,
-                                                          self.cav.localizer.geo_ref.longitude, 0.0)
-                newPO = Perception(carlaX,
-                                   carlaY,
-                                   float(PLUobj['vehicleWidth']) / 10,
-                                   float(PLUobj['vehicleLength']) / 10,
-                                   float(PLUobj['timestamp']) / 1000,
-                                   PLUobj['confidence'])
-                newPO.heading = float(PLUobj['Heading']) / 10
-                newPO.yaw = float(PLUobj['Yaw']) / 10
-                IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO])
-                if IoU_map is not None:
-                    if IoU_map[matched[0], new[0]] >= 0:
-                        # If this object is already perceived by PM, delete old entry
-                        del self.pldm.PLDM[pldm_ids[matched[0]]]
-            for PLUobj in newPLUids:
-                if PLUobj['ObjectID'] in self.pldm.PLDM:
-                    newID = self.pldm.PLDM_ids.pop()
-                    self.pldm.PLDM[newID] = copy.deepcopy(self.pldm.PLDM[PLUobj['ObjectID']])
-                    self.pldm.PLDM[newID].id = newID
-                    self.pldm.PLDM[newID].newPO = True
-                    del self.pldm.PLDM[PLUobj['ObjectID']]
-
-        PLU_ids = []
-        if 'perceivedObjects' in PLU:
-            init_t = time.time_ns() / 1000
-            for PLUobj in PLU['perceivedObjects']:
-                PLU_ids.append(PLUobj['ObjectID'])
-                if PLUobj['ObjectID'] in self.pldm.PLDM:
-                    if self.pldm.PLDM[PLUobj['ObjectID']].newPO:
-                        # If it was a newPO but appears in PLU, now is not new
-                        self.pldm.PLDM[PLUobj['ObjectID']].newPO = False
-                    if PLUobj['assignedPM'] == self.cav.vehicle.id:
-                        # If this PM is assigned with this PO, update assignment
-                        self.pldm.PLDM[PLUobj['ObjectID']].assignedPM = self.cav.vehicle.id
-                        t_update += time.time_ns() / 1000 - init_t
-                        continue
-                    # If this PM is not assigned with this object, update entry
-                    carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
-                                                              float(
-                                                                  PLUobj['referencePosition']['longitude']) / 10000000,
-                                                              PLUobj['referencePosition']['altitude'],
-                                                              self.cav.localizer.geo_ref.latitude,
-                                                              self.cav.localizer.geo_ref.longitude, 0.0)
-                    newPO = Perception(carlaX,
-                                       carlaY,
-                                       float(PLUobj['vehicleWidth']) / 10,
-                                       float(PLUobj['vehicleLength']) / 10,
-                                       float(PLUobj['timestamp']) / 1000,
-                                       PLUobj['confidence'])
-                    newPO.heading = float(PLUobj['Heading']) / 10
-                    newPO.yaw = float(PLUobj['Yaw']) / 10
-                    newPO.xSpeed = float(PLUobj['xSpeed']) / 100
-                    newPO.ySpeed = float(PLUobj['ySpeed']) / 100
-                    newPO.xacc = float(PLUobj['xAcceleration']) / 100
-                    newPO.yacc = float(PLUobj['yAcceleration']) / 100
-                    newPO.o3d_bbx, newPO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, newPO.width, newPO.length,
-                                                                newPO.yaw)
-
-                    self.pldm.PLDM[PLUobj['ObjectID']].kalman_filter.predict(self.cav.get_time_ms())
-                    x, y, vx, vy, ax, ay = self.pldm.PLDM[PLUobj['ObjectID']].kalman_filter.update(newPO.xPosition,
-                                                                                                   newPO.yPosition,
-                                                                                                   self.cav.get_time_ms())
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xPosition = x
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.yPosition = y
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xSpeed = vx
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.ySpeed = vy
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.xacc = ax
-                    self.pldm.PLDM[PLUobj['ObjectID']].perception.yacc = ay
-
-                    self.pldm.PLDM[PLUobj['ObjectID']].assignedPM = PLUobj['assignedPM']
-                    self.pldm.PLDM[PLUobj['ObjectID']].perceivedBy = PLUobj['assocPMs']
-                    self.pldm.PLDM[PLUobj['ObjectID']].detected = True
-                    self.pldm.PLDM[PLUobj['ObjectID']].PM = False
-                    self.pldm.PLDM[PLUobj['ObjectID']].tracked = True
-                    self.pldm.PLDM[PLUobj['ObjectID']].insertPerception(newPO)
-
-                else:
-                    # If not in local PLDM, create new entry
-                    carlaX, carlaY, carlaZ = geo_to_transform(float(PLUobj['referencePosition']['latitude']) / 10000000,
-                                                              float(
-                                                                  PLUobj['referencePosition']['longitude']) / 10000000,
-                                                              PLUobj['referencePosition']['altitude'],
-                                                              self.cav.localizer.geo_ref.latitude,
-                                                              self.cav.localizer.geo_ref.longitude, 0.0)
-
-                    PO = Perception(carlaX,
-                                    carlaY,
-                                    float(PLUobj['vehicleWidth']) / 10,
-                                    float(PLUobj['vehicleLength']) / 10,
-                                    float(PLUobj['timestamp']) / 1000,
-                                    PLUobj['confidence'])
-                    PO.heading = float(PLUobj['Heading']) / 10
-                    PO.yaw = float(PLUobj['Yaw']) / 10
-                    PO.xSpeed = float(PLUobj['xSpeed']) / 100
-                    PO.ySpeed = float(PLUobj['ySpeed']) / 100
-                    PO.xacc = float(PLUobj['xAcceleration']) / 100
-                    PO.yacc = float(PLUobj['yAcceleration']) / 100
-                    PO.o3d_bbx = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length)
-                    if PLUobj['ObjectID'] in self.pldm.PLDM_ids:
-                        self.pldm.PLDM_ids.remove(PLUobj['ObjectID'])  # To avoid using this ID for a newPO
-                    newPO = newPLDMentry(PO, PLUobj['ObjectID'], detected=True, onSight=False)
-                    newPO.assignedPM = PLUobj['assignedPM']
-                    newPO.perceivedBy = PLUobj['assocPMs']
-                    newPO.PM = False
-                    newPO.tracked = True
-                    newPO.kalman_filter = PO_kalman_filter()
-                    newPO.kalman_filter.init_step(PO.xPosition,
-                                                  PO.yPosition,
-                                                  PO.xSpeed,
-                                                  PO.ySpeed,
-                                                  PO.xacc,
-                                                  PO.yacc)
-                    # TODO: see if matching is actually necessary
-                    # Check if it doesn't match with a stored perception
-                    IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO.perception])
-                    if IoU_map is not None:
-                        if IoU_map[matched[0], new[0]] < 0:
-                            # If this is indeed a new object
-                            if PLUobj['ObjectID'] in self.pldm.PLDM_ids:
-                                self.pldm.PLDM_ids.remove(PLUobj['ObjectID'])  # To avoid using this ID for a newPO
-                        else:
-                            # If this object is already perceived by PM, delete old entry
-                            del self.pldm.PLDM[pldm_ids[matched[0]]]
-                            newPO.perceivedBy.append(self.cav.vehicle.id)
-
-                    self.pldm.PLDM[PLUobj['ObjectID']] = newPO
-                    # t_new += time.time_ns() / 1000 - init_t
-            t_update += time.time_ns() / 1000 - init_t
-
-        init_t = time.time_ns() / 1000
-        self.generatePMU()
-        t_genPMU = time.time_ns() / 1000 - init_t
-        self.cav.pldm_mutex.release()
-        # self.cav.pldm_mutex.acquire()
-        # extra_ids = []
-        # for ID, PLDMobj in self.pldm.PLDM.items():
-        #     if ID not in PLU_ids and (PLDMobj.detected and PLDMobj.newPO):
-        #         extra_ids.append(ID)
-        # for id in extra_ids:
-        #     del self.pldm.PLDM[id]
-        #     self.pldm.PLDM_ids.add(id)
-        # self.cav.pldm_mutex.release()
-
-        return t_update, t_new, t_genPMU
-
-    def processPMU(self, PMU):
-        if PMU['stationID'] not in self.PMs:
-            self.PMs.append(PMU['stationID'])
-        if PMU['stationID'] in self.pldm.PLDM:
-            self.pldm.PLDM[PMU['stationID']].PM = True
-        if not self.leader:
-            return
-        # print('PMU received by ', self.cav.vehicle.id, ', tst ', PMU['timestamp'], ', seqNum ', PMU['seqNum'],
-        #       ',time ', self.cav.get_time_ms())
-        if PMU['stationID'] not in self.recv_pmu:
-            self.recv_pmu[PMU['stationID']] = 1
-        else:
-            self.recv_pmu[PMU['stationID']] += 1
-        t_assigned = 0
-        t_new = 0
-        self.cav.pldm_mutex.acquire()
-        if 'assignedPOs' in PMU:
-            init_t = time.time_ns() / 1000
-            for PMUobj in PMU['assignedPOs']:
-                carlaX, carlaY, carlaZ = geo_to_transform(float(PMUobj['referencePosition']['latitude']) / 10000000,
-                                                          float(PMUobj['referencePosition']['longitude']) / 10000000,
-                                                          PMUobj['referencePosition']['altitude'],
-                                                          self.cav.localizer.geo_ref.latitude,
-                                                          self.cav.localizer.geo_ref.longitude, 0.0)
-                PO = Perception(carlaX,
-                                carlaY,
-                                float(PMUobj['vehicleWidth']) / 10,
-                                float(PMUobj['vehicleLength']) / 10,
-                                float(PMUobj['timestamp']) / 1000,
-                                PMUobj['confidence'])
-                PO.heading = float(PMUobj['Heading']) / 10
-                PO.yaw = float(PMUobj['Yaw']) / 10
-                PO.xSpeed = float(PMUobj['xSpeed']) / 100
-                PO.ySpeed = float(PMUobj['ySpeed']) / 100
-                PO.xacc = float(PMUobj['xAcceleration']) / 100
-                PO.yacc = float(PMUobj['yAcceleration']) / 100
-                PO.o3d_bbx, PO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length, PO.yaw)
-
-                if PMUobj['ObjectID'] in self.pldm.PLDM:
-                    self.pldm.PLDM[PMUobj['ObjectID']].kalman_filter.predict(self.cav.get_time_ms())
-                    x, y, vx, vy, ax, ay = self.pldm.PLDM[PMUobj['ObjectID']].kalman_filter.update(PO.xPosition,
-                                                                                                   PO.yPosition,
-                                                                                                   self.cav.get_time_ms())
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xPosition = x
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.yPosition = y
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xSpeed = vx
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.ySpeed = vy
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.xacc = ax
-                    self.pldm.PLDM[PMUobj['ObjectID']].perception.yacc = ay
-                    self.pldm.PLDM[PMUobj['ObjectID']].assignedPM = PMUobj['assignedPM']
-                    self.pldm.PLDM[PMUobj['ObjectID']].perceivedBy = PMUobj['assocPMs']
-                    self.pldm.PLDM[PMUobj['ObjectID']].insertPerception(PO)
-                else:
-                    newPO = newPLDMentry(PO, PMUobj['ObjectID'], detected=True, onSight=False)
-                    newPO.assignedPM = PMUobj['assignedPM']
-                    newPO.perceivedBy = PMUobj['assocPMs']
-                    newPO.kalman_filter = PO_kalman_filter(0.1)
-                    newPO.kalman_filter.init_step(PO.xPosition,
-                                                  PO.yPosition,
-                                                  PO.xSpeed,
-                                                  PO.ySpeed,
-                                                  PO.xacc,
-                                                  PO.yacc)
-                    self.pldm.PLDM[PMUobj['ObjectID']] = newPO
-
-                # TODO: test if it works
-                if (PMU['timestamp'] - PMUobj['timestamp']) > 200:
-                    if self.pldm.PLDM[PMUobj['ObjectID']].onSight:
-                        self.pldm.PLDM[PMUobj['ObjectID']].assignedPM = self.cav.vehicle.id
-            t_assigned += time.time_ns() / 1000 - init_t
-        if 'newPOs' in PMU:
-            init_t = time.time_ns() / 1000
-            for PMUobj in PMU['newPOs']:
-                carlaX, carlaY, carlaZ = geo_to_transform(float(PMUobj['referencePosition']['latitude']) / 10000000,
-                                                          float(PMUobj['referencePosition']['longitude']) / 10000000,
-                                                          PMUobj['referencePosition']['altitude'],
-                                                          self.cav.localizer.geo_ref.latitude,
-                                                          self.cav.localizer.geo_ref.longitude, 0.0)
-
-                PO = Perception(carlaX,
-                                carlaY,
-                                float(PMUobj['vehicleWidth']) / 10,
-                                float(PMUobj['vehicleLength']) / 10,
-                                float(PMUobj['timestamp']) / 1000,
-                                PMUobj['confidence'])
-                PO.heading = float(PMUobj['Heading']) / 10
-                PO.yaw = float(PMUobj['Yaw']) / 10
-                PO.xSpeed = float(PMUobj['xSpeed']) / 100
-                PO.ySpeed = float(PMUobj['ySpeed']) / 100
-                PO.xacc = float(PMUobj['xAcceleration']) / 100
-                PO.yacc = float(PMUobj['yAcceleration']) / 100
-                PO.o3d_bbx, PO.line_set = get_o3d_bbx(self.cav, carlaX, carlaY, PO.width, PO.length, PO.yaw)
-
-                newPO = newPLDMentry(PO, PMUobj['ObjectID'], detected=True, onSight=False)
-                newPO.tracked = True
-                newPO.perceivedBy = PMUobj['assocPMs']
-                # Check if it doesn't match with a stored perception
-                IoU_map, new, matched, pldm_ids = self.match_PLDMObject([newPO.perception])
-                if IoU_map is not None:
-                    if IoU_map[matched[0], new[0]] < 0:
-                        # If this is indeed a new object, assign the object to this PM and create entry
-                        newPO.assignedPM = PMU['stationID']
-                        newPO.kalman_filter = PO_kalman_filter()
-                        newPO.kalman_filter.init_step(PO.xPosition,
-                                                      PO.yPosition,
-                                                      PO.xSpeed,
-                                                      PO.ySpeed,
-                                                      PO.xacc,
-                                                      PO.yacc)
-                        self.pldm.PLDM[PMUobj['ObjectID']] = newPO
-                    else:
-                        # If this object is already perceived by another PM, add new assoc PM
-                        self.pldm.PLDM[pldm_ids[matched[0]]].perceivedBy.append(PMU['stationID'])
-            t_new += time.time_ns() / 1000 - init_t
-        self.pldm.pmMap[PMU['stationID']] = PMU['PMstate']
-        self.cav.pldm_mutex.release()
-        return t_new, t_assigned
-
-    def processCPM(self, CPM):
-        referencePosition = CPM['referencePosition']
-        stationData = CPM['stationData']
-        newPOs = []
-        t_parse = 0
-        t_fusion = 0
-        # Compute the CARLA transform with the longitude and latitude values
-        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
-                                                  float(referencePosition['longitude']) / 10000000,
-                                                  referencePosition['altitude'],
-                                                  self.cav.localizer.geo_ref.latitude,
-                                                  self.cav.localizer.geo_ref.longitude, 0.0)
-        carlaTransform = carla.Transform(
-            carla.Location(
-                x=carlaX, y=carlaY, z=carlaZ),
-            carla.Rotation(
-                pitch=0, yaw=float(stationData['heading']) / 10, roll=0))
-        if 'perceivedObjects' in CPM:
-            init_t = time.time_ns() / 1000
-            for CPMobj in CPM['perceivedObjects']:
-                if CPMobj['ObjectID'] == self.cav.vehicle.id:
-                    continue
-                # Convert CPM relative values to absolute CARLA values to then match/fusion with LDMobjects
-                dist = math.sqrt(
-                    math.pow(CPMobj['xDistance'] / 100, 2) + math.pow(CPMobj['yDistance'] / 100, 2))
-                relAngle = math.atan2(CPMobj['yDistance'] / 100, CPMobj['xDistance'] / 100)
-                absAngle = relAngle + math.radians(carlaTransform.rotation.yaw)
-                xPos = dist * math.cos(absAngle) + carlaTransform.location.x
-                yPos = dist * math.sin(absAngle) + carlaTransform.location.y
-
-                dSpeed = math.sqrt(math.pow(CPMobj['xSpeed'] / 100, 2) + math.pow(CPMobj['ySpeed'] / 100, 2))
-                relAngle = math.atan2(CPMobj['ySpeed'] / 100, CPMobj['xSpeed'] / 100)
-                absAngle = relAngle + math.radians(
-                    carlaTransform.rotation.yaw)  # This absolute value is actually the heading of the object
-                xSpeed = dSpeed * math.cos(absAngle) + (stationData['speed'] / 100) * math.cos(
-                    math.radians(carlaTransform.rotation.yaw))
-                ySpeed = dSpeed * math.sin(absAngle) + (stationData['speed'] / 100) * math.sin(
-                    math.radians(carlaTransform.rotation.yaw))
-
-                # CPM object converted to LDM format
-                newPO = Perception(xPos,
-                                   yPos,
-                                   float(CPMobj['vehicleWidth']) / 10,
-                                   float(CPMobj['vehicleLength']) / 10,
-                                   float(CPMobj['timestamp']) / 1000,
-                                   float(CPMobj['confidence']),
-                                   ID=CPMobj['ObjectID'])
-                newPO.xSpeed = xSpeed
-                newPO.ySpeed = ySpeed
-                newPO.yaw = float(CPMobj['Yaw']) / 10
-                # print('[CPM] ' + str(newPO.id) + ' speed: ' + str(newPO.xSpeed) + ',' + str(newPO.ySpeed))
-                newPO.heading = math.degrees(absAngle)
-                newPOs.append(newPO)
-            t_parse += time.time_ns() / 1000 - init_t
-            init_t = time.time_ns() / 1000
-            self.cav.pldm_mutex.acquire()
-            self.CPMfusion(newPOs, CPM['stationID'])
-            self.cav.pldm_mutex.release()
-            t_fusion += time.time_ns() / 1000 - init_t
-
-        return t_parse, t_fusion
-
-    def CPMfusion(self, object_list, fromID):
-        if fromID in self.PMs:
-            for PO in object_list:
-                if PO.id in self.pldm.PLDM:
-                    # We only care about POs we are assigned with
-                    if self.pldm.PLDM[PO.id].assignedPM == self.cav.vehicle.id:
-                        # We don't need to match because ids are (supposed to be) in sync
-                        self.append_CPM_object(PO, PO.id, fromID)
-
-    def append_CPM_object(self, CPMobj, id, fromID):
-        if fromID not in self.pldm.PLDM[id].perceivedBy:
-            self.pldm.PLDM[id].perceivedBy.append(fromID)
-        if CPMobj.timestamp < self.pldm.PLDM[id].getLatestPoint().timestamp - 100:  # Consider objects up to 100ms old
-            return
-
-        newLDMobj = Perception(CPMobj.xPosition,
-                               CPMobj.yPosition,
-                               CPMobj.width,
-                               CPMobj.length,
-                               CPMobj.timestamp,
-                               CPMobj.confidence)
-        newLDMobj.yaw = CPMobj.yaw
-        # If the object is also perceived locally
-        if self.cav.vehicle.id in self.pldm.PLDM[id].perceivedBy:
-            # Compute weights depending on the POage and confidence (~distance from detecting vehicle)
-            LDMobj = self.pldm.PLDM[id].perception
-            LDMobj_age = LDMobj.timestamp - self.cav.time
-            CPMobj_age = CPMobj.timestamp - self.cav.time
-            if (LDMobj.confidence == 0 and CPMobj.confidence == 0) or \
-                    (LDMobj_age == 0 and CPMobj_age == 0):
-                weightCPM = 0.5
-                weightLDM = 0.5
-            else:
-                weightLDM = (LDMobj_age / (CPMobj_age + LDMobj_age)) * \
-                            (LDMobj.confidence / (LDMobj.confidence + CPMobj.confidence))
-                weightCPM = (CPMobj_age / (CPMobj_age + LDMobj_age)) * \
-                            (CPMobj.confidence / (LDMobj.confidence + CPMobj.confidence))
-                if (weightLDM + weightCPM) == 0:
-                    weightLDM = 0.5
-                    weightCPM = 0.5
-
-            newLDMobj.xPosition = (LDMobj.xPosition * weightCPM + CPMobj.xPosition * weightLDM) / (
-                    weightLDM + weightCPM)
-            newLDMobj.yPosition = (LDMobj.yPosition * weightCPM + CPMobj.yPosition * weightLDM) / (
-                    weightLDM + weightCPM)
-            newLDMobj.xSpeed = (CPMobj.xSpeed * weightCPM + LDMobj.xSpeed * weightLDM) / (weightLDM + weightCPM)
-            newLDMobj.ySpeed = (CPMobj.ySpeed * weightCPM + LDMobj.ySpeed * weightLDM) / (weightLDM + weightCPM)
-            newLDMobj.width = (CPMobj.width * weightCPM + LDMobj.width * weightLDM) / (weightLDM + weightCPM)
-            newLDMobj.length = (CPMobj.length * weightCPM + LDMobj.length * weightLDM) / (weightLDM + weightCPM)
-            newLDMobj.heading = (CPMobj.heading * weightCPM + LDMobj.heading * weightLDM) / (weightLDM + weightCPM)
-            # newLDMobj.confidence = (CPMobj.confidence + LDMobj.confidence) / 2
-            newLDMobj.timestamp = self.cav.time
-            self.pldm.PLDM[id].onSight = True
-        else:
-            self.pldm.PLDM[id].onSight = False
-
-        newLDMobj.o3d_bbx, newLDMobj.line_set = get_o3d_bbx(self.cav,
-                                                            newLDMobj.xPosition,
-                                                            newLDMobj.yPosition,
-                                                            newLDMobj.width,
-                                                            newLDMobj.length,
-                                                            newLDMobj.yaw
-                                                            )
-        # cav.LDM[id].kalman_filter.update(newLDMobj.xPosition, newLDMobj.yPosition, newLDMobj.width, newLDMobj.length)
-        self.pldm.PLDM[id].insertPerception(newLDMobj)
-
-    def match_PLDMObject(self, object_list):
-        if len(self.pldm.PLDM) != 0:
-            IoU_map = np.zeros((len(self.pldm.PLDM), len(object_list)), dtype=np.float32)
-            i = 0
-            ldm_ids = []
-            for ID, PLDMobj in self.pldm.PLDM.items():
-                for j in range(len(object_list)):
-                    obj = object_list[j]
-                    object_list[j].o3d_bbx = self.cav.LDMobj_to_o3d_bbx(obj)
-                    LDMpredX = PLDMobj.perception.xPosition
-                    LDMpredY = PLDMobj.perception.yPosition
-                    # if self.cav.time > PLDMobj.perception.timestamp:
-                    #     LDMpredX += (self.cav.time - PLDMobj.perception.timestamp) * PLDMobj.perception.xSpeed
-                    #     LDMpredY += (self.cav.time - PLDMobj.perception.timestamp) * PLDMobj.perception.ySpeed
-                    #     LDMpredbbx = self.cav.LDMobj_to_o3d_bbx(PLDMobj.perception)
-                    LDMpredbbx, LDMpredline_set = get_o3d_bbx(self.cav, LDMpredX, LDMpredY, PLDMobj.perception.width,
-                                                              PLDMobj.perception.length, PLDMobj.perception.yaw)
-
-                    dist = math.sqrt(
-                        math.pow((obj.xPosition - LDMpredX), 2) + math.pow((obj.yPosition - LDMpredY), 2))
-                    iou = compute_IoU(LDMpredbbx, object_list[j].o3d_bbx)
-                    if iou > 0:
-                        IoU_map[i, j] = iou
-                    elif dist > 3:  # if dist < 3 --> IoU_map[i, j] = 0
-                        IoU_map[i, j] = -1000
-                i += 1
-                ldm_ids.append(ID)
-            matched, new = linear_assignment(-IoU_map)
-            return IoU_map, new, matched, ldm_ids
-        else:
-            return None, None, None, None
-
-    def processCAM(self, CAM):
-        referencePosition = CAM['referencePosition']
-        highFreqContainer = CAM['highFrequencyContainer']
-        # Compute the CARLA transform with the longitude and latitude values
-        carlaX, carlaY, carlaZ = geo_to_transform(float(referencePosition['latitude']) / 10000000,
-                                                  float(referencePosition['longitude']) / 10000000,
-                                                  referencePosition['altitude'],
-                                                  self.cav.localizer.geo_ref.latitude,
-                                                  self.cav.localizer.geo_ref.longitude, 0.0)
-
-        fromTransform = carla.Transform(
-            carla.Location(
-                x=carlaX, y=carlaY, z=referencePosition['altitude']), carla.Rotation(
-                pitch=0, yaw=float(highFreqContainer['heading']) / 10, roll=0))
-        extent = carla.Vector3D(float(highFreqContainer['vehicleLength']) / 10.0,
-                                float(highFreqContainer['vehicleWidth']) / 10.0, 0.75)
-        carlaTransform = fromTransform
-        newCV = Perception(carlaTransform.location.x,
-                           carlaTransform.location.y,
-                           extent.x,
-                           extent.y,
-                           CAM['timestamp'] / 1000,
-                           100,
-                           float(highFreqContainer['speed']) / 100 * math.cos(
-                               math.radians(carlaTransform.rotation.yaw)),
-                           float(highFreqContainer['speed']) / 100 * math.sin(
-                               math.radians(carlaTransform.rotation.yaw)),
-                           carlaTransform.rotation.yaw,
-                           ID=CAM['stationID'])
-        newCV.yaw = carlaTransform.rotation.yaw
-        # print('Vehicle ' + str(self.cav.vehicle.id) + ' received CAM from vehicle ' + str(CAM['stationID']))
-        self.cav.pldm_mutex.acquire()
-        ldm_id = self.CAMfusion(newCV)
-        self.cav.pldm_mutex.release()
-        if CAM['isJoinable'] is True:
-            self.V2Xagent.pcService.updateJoinableList(ldm_id)
-        return True
-
-    def CAMfusion(self, CAMobject):
-        CAMobject.o3d_bbx, CAMobject.line_set = get_o3d_bbx(self.cav,
-                                                            CAMobject.xPosition,
-                                                            CAMobject.yPosition,
-                                                            CAMobject.width,
-                                                            CAMobject.length,
-                                                            CAMobject.yaw)
-        if CAMobject.id in self.pldm.PLDM:
-            # If this is not the first CAM
-            self.pldm.PLDM[CAMobject.id].kalman_filter.predict(self.cav.get_time_ms())
-            x, y, vx, vy, ax, ay = self.pldm.PLDM[CAMobject.id].kalman_filter.update(CAMobject.xPosition,
-                                                                                     CAMobject.yPosition,
-                                                                                     self.cav.get_time_ms())
-            # print('KFupdate: ', "x: ", x, ",y: ", y, ",vx: ", vx, ",vy: ", vy, ",ax: ", ax, ",ay: ", ay)
-            CAMobject.xPosition = x
-            CAMobject.yPosition = y
-            CAMobject.xSpeed = vx
-            CAMobject.ySpeed = vy
-            CAMobject.xacc = ax
-            CAMobject.yacc = ay
-            self.pldm.PLDM[CAMobject.id].insertPerception(CAMobject)
-        else:
-            # If this is the first CAM, check if we are already perceiving it
-            IoU_map, new, matched, ldm_ids = self.match_PLDMObject([CAMobject])
-            if IoU_map is not None:
-                if IoU_map[matched[0], new[0]] >= 0:
-                    # If we are perceiving this object, delete the entry as PO
-                    del self.pldm.PLDM[ldm_ids[matched[0]]]
-                    self.pldm.PLDM_ids.add(ldm_ids[matched[0]])
-            # Create new entry
-            if CAMobject.id in self.pldm.PLDM_ids:
-                self.pldm.PLDM_ids.remove(CAMobject.id)
-            self.pldm.PLDM[CAMobject.id] = newPLDMentry(CAMobject, CAMobject.id, detected=False, onSight=True)
-            self.pldm.PLDM[CAMobject.id].PM = True
-            self.pldm.PLDM[CAMobject.id].kalman_filter = PO_kalman_filter(0.1)
-            self.pldm.PLDM[CAMobject.id].kalman_filter.init_step(CAMobject.xPosition,
-                                                                 CAMobject.yPosition,
-                                                                 vx=CAMobject.xSpeed,
-                                                                 vy=CAMobject.ySpeed)
-        return CAMobject.id
diff --git a/opencda/customize/v2x/intruderApp.py b/opencda/customize/v2x/intruderApp.py
deleted file mode 100644
index c4ae1dbba..000000000
--- a/opencda/customize/v2x/intruderApp.py
+++ /dev/null
@@ -1,148 +0,0 @@
-import carla
-import math
-import numpy as np
-import weakref
-
-from opencda.customize.platooning.states import I_FSM
-from collections import deque
-
-
-class IntruderApp(object):
-    def __init__(
-            self,
-            cav,
-            V2Xagent):
-        self.cav = cav
-        self.V2Xagent = V2Xagent
-        self.pcm_sent = 0
-        self.last_pcm = 0
-        self.isJoinable = False
-        self.joinableList = set()
-
-        # whether leader in a platoon
-        self.leader = False
-        self.PCMap = {}  # Map containing the last 10 PCM received from each PM
-        self.platooning_id = None
-        self.leader_id = None
-        self.platoon_position = None
-        self.status = I_FSM.IDLE
-
-        self.platoon_list = {}
-        self.maximum_capacity = 10
-
-        self.destination = None
-        self.center_loc = None
-
-        # this is used to control platooning speed during joining
-        self.leader_target_speed = 0
-        self.origin_leader_target_speed = 0
-        self.recover_speed_counter = 0
-
-        # the platoon in the black list won't be considered again
-        self.platooning_blacklist = []
-
-        # used to label the front and rear vehicle position
-        self.front_vehicle = None
-        self.front_front_vehicle = None
-        self.rear_vehicle = None
-        self.leader_vehicle = None
-
-        self.join_req_counter = 0
-        self.last_join_req = 0
-        self.requestTO = None
-
-        self.join_resp_counter = 0
-        self.last_join_resp = 0
-        self.responseTO = 0
-
-        self.last_tx_pcm = 0
-        self.last_rx_pcm = 0
-
-        self.leave_flag = False
-        self.leave_pcm_counter = 0
-
-        self.leave_counter = 0
-        self.last_leave_msg = 0
-
-    def getIsJoinable(self):
-        return self.isJoinable
-
-    def updateJoinableList(self, id):
-        self.joinableList.add(id)
-
-    def getPlatoonStatus(self):
-        return self.status
-
-    def checkJoinConditions(self):
-        """
-        Check conditions for joining a platoon.
-        For now this means to check if we are behind a joinable vehicle.
-        Returns
-        -------
-
-        """
-        # TODO: check which of the vehicles in front is closer
-        self.cav.ldm_mutex.acquire()
-        ldm = self.cav.get_context()
-        self.cav.ldm_mutex.release()
-        ego_pos, ego_spd, objects = self.cav.getInfo()
-        best_id = None
-        furthest = 0
-        for id in self.joinableList:
-            if id in ldm:
-                # Calculate vector from obj1 to obj2
-                diff = [ldm[id].xPosition - ego_pos.location.x, ldm[id].yPosition - ego_pos.location.y]
-                magnitude = math.sqrt(diff[0] ** 2 + diff[1] ** 2)
-                normalized = [diff[0] / magnitude, diff[1] / magnitude]
-                heading_vector = [math.cos(math.radians(ego_pos.rotation.yaw)),
-                                  math.sin(math.radians(ego_pos.rotation.yaw))]
-                # Calculate dot product
-                dot_product = normalized[0] * heading_vector[0] + normalized[1] * heading_vector[1]
-                if dot_product > 0:
-                    # ldm[id] is in front
-                    if magnitude > furthest:
-                        best_id = id
-                        furthest = magnitude
-
-        return best_id
-
-    def run_step(self):
-        if self.status == I_FSM.IDLE:
-            if self.cav.get_time_ms() > 11500:
-                # select random platoon position
-                self.platoon_position = np.random.randint(2, self.platoon_list.__len__())
-                self.leader_vehicle = self.PCMap[self.platoon_list[1]][-1]
-                self.front_vehicle = self.PCMap[self.platoon_list[self.platoon_position - 1]][-1]
-                self.rear_vehicle = self.PCMap[self.platoon_list[self.platoon_position + 1]][-1]
-                self.status = I_FSM.BEGIN
-
-        # if self.status in (I_FSM.BEGIN, I_FSM.INTRUDE, I_FSM.FINISH):
-
-    def get_lost_rx_pcm(self):
-        # print(self.PCMap.items())
-        for id, pm in self.PCMap.items():
-            if pm[(len(self.PCMap[id]) - 1)]['timestamp'] <= (
-                    (int(self.cav.get_time_ms()) % 65536) - 500):  # if older than 500ms
-                return False
-        return False
-
-    def processPCM(self, pcm):
-        # if (self.status == FSM.LEADING_MODE) or (self.status == FSM.MAINTINING) or (
-        #         self.status == FSM.JOIN_REQUEST) or (self.status == FSM.BACK_JOINING):
-        if pcm['stationID'] in self.PCMap:
-            self.PCMap[int(pcm['stationID'])].append(pcm)
-        else:
-            self.PCMap[int(pcm['stationID'])] = deque([pcm], maxlen=10)
-
-        self.platoon_list[pcm['platoonControlContainer']['platoonPosition']] = pcm['stationID']
-
-        if self.status != I_FSM.IDLE:
-            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position - 1:
-                self.front_vehicle = pcm
-            if pcm['platoonControlContainer']['platoonPosition'] == self.platoon_position + 1:
-                self.rear_vehicle = pcm
-            if pcm['platoonControlContainer']['platoonPosition'] == 1:
-                self.leader_vehicle = pcm
-        return True
-
-
diff --git a/opencda/customize/v2x/v2x_agent.py b/opencda/customize/v2x/v2x_agent.py
index 2eade726c..7f3f1826e 100644
--- a/opencda/customize/v2x/v2x_agent.py
+++ b/opencda/customize/v2x/v2x_agent.py
@@ -8,11 +8,6 @@
     import LocalizationManager
 from opencda.core.sensing.perception.perception_manager \
     import PerceptionManager
-from opencda.customize.v2x.CAservice import CAservice
-from opencda.customize.v2x.CPservice import CPservice
-from opencda.customize.v2x.PCservice import PCservice
-from opencda.customize.v2x.PLDMservice import PLDMservice
-from opencda.customize.v2x.intruderApp import IntruderApp
 
 import os, sys, math
 import time
diff --git a/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml b/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
index cd1fd527c..50f44fe0f 100644
--- a/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
+++ b/opencda/scenario_testing/config_yaml/ms_van3t_platooning_4lane_intruder.yaml
@@ -142,7 +142,7 @@ scenario:
         perception:
           activate: true
           camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
+            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
             num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
             # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
             positions:
@@ -151,7 +151,7 @@ scenario:
               - [0.0, -0.3, 1.8, -100]
               - [-2.0, 0.0, 1.5, 180]
           lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
+            visualize: false
       v2x:
         communication_range: 35
         ms-van3t: true
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
deleted file mode 100644
index 074b5bdf9..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_carla.yaml
+++ /dev/null
@@ -1,107 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
-           at the customized 2lanefree simple version.
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions: []
-      lidar:
-        visualize: false
-  map_manager:
-    visualize: false
-    activate: false
-  behavior:
-    max_speed: 95 # maximum speed, km/h
-    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.3 # used for collision checking
-    overtake_counter_recover: 35 # the vehicle can not do another overtake during next certain steps
-    local_planner:
-      trajectory_dt: 0.25 # for every dt seconds, we sample a trajectory point from the trajectory path as next goal state
-
-# define the platoon basic characteristics
-platoon_base:
-  max_capacity: 10
-  inter_gap: 0.6 # desired time gap
-  open_gap: 1.5 # open gap
-  warm_up_speed: 55 # required speed before cooperative merging
-
-# define the background traffic control by carla
-carla_traffic_manager:
-  global_distance: 4.0 # the minimum distance in meters that vehicles have to keep with the rest
-  # Sets the difference the vehicle's intended speed and its current speed limit.
-  #  Carla default speed is 30 km/h, so -100 represents 60 km/h,
-  # and 20 represents 24 km/h
-  global_speed_perc: -300
-  vehicle_list:
-    - spawn_position: [-285, 8.3, 0.3, 0, 0, 0]
-    - spawn_position: [-310, 8.3, 0.3, 0, 0, 0]
-    - spawn_position: [-390, 8.3, 0.3, 0, 0, 0]
-    - spawn_position: [-320, 4.8, 0.3, 0, 0, 0]
-      vehicle_speed_perc: -200
-    - spawn_position: [-335, 4.8, 0.3, 0, 0, 0]
-    - spawn_position: [-360, 4.8, 0.3, 0, 0, 0]
-    - spawn_position: [-400, 4.8, 0.3, 0, 0, 0]
-    - spawn_position: [-410, 4.8, 0.3, 0, 0, 0]
-
-# define scenario. In this scenario, a 4-vehicle platoon already exists.
-scenario:
-  platoon_list:
-    - name: platoon1
-      destination: [1000.372955, 8.3, 0.3]
-      members: # the first one is regarded as leader by default
-        - name: cav1
-          spawn_position: [-350, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
-          perception:
-            camera:
-              visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-              num: 1 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-              # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-              positions:
-                - [2.5, 0, 1.0, 0]
-            lidar:
-              visualize: true
-          behavior:
-            local_planner:
-              debug_trajectory: true
-              debug: false
-        - name: cav2
-          spawn_position: [-360, 8.3, 0.3, 0, 0, 0]
-        - name: cav3
-          spawn_position: [-370, 8.3, 0.3, 0, 0, 0]
-        - name: cav4
-          spawn_position: [-380, 8.3, 0.3, 0, 0, 0]
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: single_cav
-      spawn_position: [-380, 4.8, 0.3, 0, 0, 0]
-      # when this is defined, the above parameter will be ignored, and a special map function will
-      # be used to define the spawn position based on the argument
-      spawn_special: [0.625]
-      destination: [300, 12.0, 0]
-      sensing:
-        perception:
-          camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 1 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-          lidar:
-            visualize: true
-      v2x:
-        communication_range: 35
-      behavior:
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
deleted file mode 100644
index c7bd55019..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_joining_2lanefree_cosim.yaml
+++ /dev/null
@@ -1,122 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the co-simulation scenario testing configuration file for platooning joining and cooperative merge
-           at the customized 2lanefree simple version.
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      activate: true # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-        - [ 2.5, 0, 1.0, 0 ]
-        - [ 0.0, 0.3, 1.8, 100 ]
-        - [ 0.0, -0.3, 1.8, -100 ]
-        - [ -2.0, 0.0, 1.5, 180 ]
-      lidar:
-        visualize: true
-  map_manager:
-    visualize: false
-    activate: false
-  behavior:
-    max_speed: 95 # maximum speed, km/h
-    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.3 # used for collision checking
-    overtake_counter_recover: 35 # the vehicle can not do another overtake during next certain steps
-    local_planner: &base_local_planner # trajectory planning related
-      trajectory_dt: 0.25 # for every dt seconds, we sample a trajectory point from the trajectory path as next goal state
-
-# define sumo simulation setting for traffic generation
-sumo:
-  port: ~
-  host: ~
-  gui: true
-  client_order: 1
-  multiple_clients: False
-  step_length: ${world.fixed_delta_seconds}
-
-# define the platoon basic characteristics
-platoon_base:
-  max_capacity: 10
-  inter_gap: 0.6 # desired time gap
-  open_gap: 1.5 # open gap
-  warm_up_speed: 55 # required speed before cooperative merging
-
-
-scenario:
-  platoon_list:
-    - name: platoon1
-      destination: [1000.372955, 8.3, 0.3]
-      members: # the first one is regarded as leader by default
-        - name: cav1
-          spawn_position: [-350, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
-          perception:
-            activate: true
-            camera:
-              visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-              num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-              # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-              positions:
-                - [ 2.5, 0, 1.0, 0 ]
-                - [ 0.0, 0.3, 1.8, 100 ]
-                - [ 0.0, -0.3, 1.8, -100 ]
-                - [ -2.0, 0.0, 1.5, 180 ]
-            lidar:
-              visualize: true
-          behavior:
-            local_planner:
-              debug_trajectory: true
-              debug: false
-        - name: cav2
-          spawn_position: [-360, 8.3, 0.3, 0, 0, 0]
-        - name: cav3
-          spawn_position: [-370, 8.3, 0.3, 0, 0, 0]
-        - name: cav4
-          spawn_position: [-380, 8.3, 0.3, 0, 0, 0]
-#        - name: cav5
-#          spawn_position: [-390, 8.3, 0.3, 0, 0, 0 ]
-#        - name: cav6
-#          spawn_position: [-400, 8.3, 0.3, 0, 0, 0 ]
-#        - name: cav7
-#          spawn_position: [-410, 8.3, 0.3, 0, 0, 0 ]
-#        - name: cav8
-#          spawn_position: [-420, 8.3, 0.3, 0, 0, 0 ]
-#        - name: cav9
-#          spawn_position: [-430, 8.3, 0.3, 0, 0, 0 ]
-
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: single_cav
-      spawn_position: [-380, 10.5, 0.3, 0, 0, 0]
-      # when this is defined, the above parameter will be ignored, and a special map function will
-      # be used to define the spawn position based on the argument
-      spawn_special: [0.655]
-      destination: [300, 12.0, 0]
-      sensing:
-        perception:
-          activate: true
-          camera:
-            visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [ 2.5, 0, 1.0, 0 ]
-              - [ 0.0, 0.3, 1.8, 100 ]
-              - [ 0.0, -0.3, 1.8, -100 ]
-              - [ -2.0, 0.0, 1.5, 180 ]
-          lidar:
-            visualize: true
-      v2x:
-        communication_range: 35
-      behavior:
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-
diff --git a/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
deleted file mode 100644
index f154ec722..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_joining_town06_carla.yaml
+++ /dev/null
@@ -1,169 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
-           at the Town06 using  CARLA only.
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      activate: true # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [ 2.5, 0, 1.0, 0 ]
-          - [ 0.0, 0.3, 1.8, 100 ]
-          - [ 0.0, -0.3, 1.8, -100 ]
-          - [ -2.0, 0.0, 1.5, 180 ]
-      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-        visualize: true
-
-    localization: &base_localize
-      activate: true # when not activated, ego position will be retrieved from server directly
-      gnss: # gnss sensor configuration
-        heading_direction_stddev: 0.1 # degree
-        speed_stddev: 0.2
-      debug_helper:
-        show_animation: false # whether to show real-time trajectory plotting
-        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
-        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
-  map_manager:
-    visualize: false
-    activate: false
-  behavior: &base_behavior
-    max_speed: 70 # maximum speed, km/h
-    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.1 # used for collision checking
-# define the platoon basic characteristics
-platoon_base:
-  max_capacity: 10
-  inter_gap: 0.6 # desired time gap
-  open_gap: 1.2 # open gap
-  warm_up_speed: 30 # required speed before cooperative merging
-
-
-# define the background traffic control by carla
-carla_traffic_manager:
-  global_distance: 4.0 # the minimum distance in meters that vehicles have to keep with the rest
-  # Sets the difference the vehicle's intended speed and its current speed limit.
-  #  Carla default speed is 30 km/h, so -100 represents 60 km/h,
-  # and 20 represents 24 km/h
-  global_speed_perc: -50
-  ignore_lights_percentage: 0 # whether set the traffic ignore traffic lights
-  vehicle_list:
-    - spawn_position: [101.7194, 136.51, 0.3, 0, 0, 0]
-      vehicle_speed_perc: -200
-#    - spawn_position: [161.7194, 139.51, 0.3, 0, 0, 0]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 141.7194, 139.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 121.7194, 136.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 111.7194, 146.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 85.7194, 136.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 70.7194, 149.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 115.7194, 143.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 98.7194, 143.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-    - spawn_position: [ 92.7194, 146.51, 0.3, 0, 0, 0 ]
-      vehicle_speed_perc: -300
-#    - spawn_position: [ 128.7194, 143.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 141.7194, 136.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 131.7194, 149.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-#    - spawn_position: [ 105.7194, 149.51, 0.3, 0, 0, 0 ]
-#      vehicle_speed_perc: -300
-
-
-# define scenario. In this scenario, a 4-vehicle platoon already exists.
-scenario:
-  platoon_list:
-    - name: platoon1
-      destination: [630, 141.39, 0.3]
-      members: # the first one is regarded as leader by default
-        - name: cav1
-          spawn_position: [121.7194, 139.51, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
-          sensing:
-            perception:
-              camera:
-                visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-                num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-                # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-                positions:
-                  - [ 2.5, 0, 1.0, 0 ]
-                  - [ 0.0, 0.3, 1.8, 100 ]
-                  - [ 0.0, -0.3, 1.8, -100 ]
-                  - [ -2.0, 0.0, 1.5, 180 ]
-              lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-                visualize: true
-          behavior:
-            local_planner:
-              debug_trajectory: false
-              debug: false
-#        - name: cav2
-#          spawn_position: [111.7194, 139.51, 0.3, 0, 0, 0]
-#        - name: cav3
-#          spawn_position: [101.7194, 139.51, 0.3, 0, 0, 0]
-#        - name: cav4
-#          spawn_position: [91.7194, 139.51, 0.3, 0, 0, 0]
-
-
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [90.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 145.39, 0]
-      sensing:
-        perception:
-          activate: true
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-#    - name: cav2
-#      spawn_position: [ 37.7194, 143.51, 0.3, 0, 0, 0 ]
-#      destination: [ 606.87, 145.39, 0 ]
-#      sensing:
-#        perception:
-#          activate: true
-#          camera:
-#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-#            positions:
-#              - [ 2.5, 0, 1.0, 0 ]
-#              - [ 0.0, 0.3, 1.8, 100 ]
-#              - [ 0.0, -0.3, 1.8, -100 ]
-#              - [ -2.0, 0.0, 1.5, 180 ]
-#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-#            visualize: true
-
-
-
diff --git a/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
deleted file mode 100644
index 67bb4174e..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_stability_2lanefree_carla.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for platooning joining and cooperative merge
-           at the customized 2lanefree simple version.
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions: []
-      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-        visualize: false
-
-    localization:
-      activate: true # when not activated, ego position will be retrieved from server directly
-      debug_helper:
-        show_animation: false # whether to show real-time trajectory plotting
-        show_plotting: false # whether to show loc data plotting after simulation
-        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
-        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
-  map_manager:
-    activate: false
-  behavior:
-    max_speed: 80 # maximum speed, km/h
-    tailgate_speed: 105 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.3 # used for collision checking
-    overtake_counter_recover: 35 # used to avoid successive overtaking
-    sample_resolution: 4.5 # the unit distance between two adjacent waypoints in meter
-
-
-# define scenario. In this scenario, a 4-vehicle platoon exists.
-# 4 agent speed to different speeds and stay at current speed before changing again.
-scenario:
-  platoon_list:
-    - name: platoon1
-      destination: [1100.372955, 8.3, 0.3]
-      members: # the first one is regarded as leader by default
-        - name: cav1
-          spawn_position: [-1000.722836, 8.3, 0.3, 0, 0, 0] # x, y, z, roll, yaw, pitch
-          behavior:
-            local_planner:
-              debug_trajectory: true
-              debug: false
-        - name: cav2
-          spawn_position: [-1010.722836, 8.3, 0.3, 0, 0, 0]
-        - name: cav3
-          spawn_position: [-1020.722836, 8.3, 0.3, 0, 0, 0]
-        - name: cav4
-          spawn_position: [-1030.722836, 8.3, 0.3, 0, 0, 0]
-        - name: cav5
-          spawn_position: [-1040.722836, 8.3, 0.3, 0, 0, 0]
-
diff --git a/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml b/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
deleted file mode 100644
index d134a8a33..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_test_town5.yaml
+++ /dev/null
@@ -1,253 +0,0 @@
-carla_traffic_manager:
-  global_distance: 4.0
-  global_speed_perc: -50
-  ignore_lights_percentage: 0
-  vehicle_list:
-  - spawn_position:
-    - -50.59
-    - -22.81
-    - 0.3
-    - 0
-    - 60
-    - 0
-    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -50.59
-#    - -32.81
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-  - spawn_position:
-    - -50.59
-    - -42.81
-    - 0.3
-    - 0
-    - 120
-    - 0
-    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -50.59
-#    - -52.81
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -50.59
-#    - -62.81
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -54.59
-#    - -22.81
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -50.59
-#    - 15
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -54.59
-#    - 20
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -54.59
-#    - 30
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -54.59
-#    - 40
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -50.59
-#    - 25
-#    - 0.3
-#    - 0
-#    - 90
-#    - 0
-#    vehicle_speed_perc: -200
-#
-#  - spawn_position:
-#    - -67.5
-#    - -6
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -77.5
-#    - -6
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - -70.59
-#    - -2
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-vehicle_base:
-  sensing:
-    perception:
-      activate: false # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [ 2.5, 0, 1.0, 0 ]
-          - [ 0.0, 0.3, 1.8, 100 ]
-          - [ 0.0, -0.3, 1.8, -100 ]
-          - [ -2.0, 0.0, 1.5, 180 ]
-      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-        visualize: true
-
-    localization: &base_localize
-      activate: false # when not activated, ego position will be retrieved from server directly
-      gnss: # gnss sensor configuration
-        heading_direction_stddev: 0.1 # degree
-        speed_stddev: 0.2
-      debug_helper:
-        show_animation: false # whether to show real-time trajectory plotting
-        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
-        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
-  map_manager:
-    visualize: false
-    activate: false
-  behavior: &base_behavior
-    max_speed: 70 # maximum speed, km/h
-    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.1 # used for collision checking
-
-platoon_base:
-  max_capacity: 10
-  inter_gap: 0.6 # desired time gap
-  open_gap: 1.2 # open gap
-  warm_up_speed: 30 # required speed before cooperative merging
-
-
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-#    - name: cav1
-#      spawn_position: [-54.59, -22.81, 0.60, 0, 90, 0]
-#      destination: [606.87, 146.39, 0]
-#      sensing:
-#        perception:
-#          activate: false
-#          camera:
-#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-#            positions:
-#              - [2.5, 0, 1.0, 0]
-#              - [0.0, 0.3, 1.8, 100]
-#              - [0.0, -0.3, 1.8, -100]
-#              - [-2.0, 0.0, 1.5, 180]
-#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-#            visualize: true
-#      v2x:
-#        communication_range: 35
-#        platoon_init_pos: 1
-#        pldm: true
-#        intruder: false
-#      behavior:
-#        <<: *base_behavior
-#        max_speed: 70 # maximum speed, km/h
-#        tailgate_speed: 111
-#        overtake_allowed: false
-#        local_planner:
-#          debug_trajectory: true
-#          debug: false
-
-    - name: cav2
-      spawn_position: [-54.59, -32.81, 0.60, 0, 60, 0]
-      destination: [606.87, 143.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 0
-        pldm: false
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav3
-      spawn_position: [-54.59, -52.81, 0.60, 0, 90, 0]
-      destination: [606.87, 143.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 3
-        pldm: true
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
diff --git a/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml b/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
deleted file mode 100644
index 8d22a6076..000000000
--- a/opencda/scenario_testing/config_yaml/platoon_test_town6.yaml
+++ /dev/null
@@ -1,363 +0,0 @@
-carla_traffic_manager:
-  global_distance: 4.0
-  global_speed_perc: -50
-  ignore_lights_percentage: 0
-  vehicle_list:
-  - spawn_position:
-    - 121.7194
-    - 146.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-  - spawn_position:
-    - 111.7194
-    - 146.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-  - spawn_position:
-    - 101.7194
-    - 146.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-  - spawn_position:
-    - 91.7194
-    - 146.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-  - spawn_position:
-    - 81.7194
-    - 146.51
-    - 0.3
-    - 0
-    - 0
-    - 0
-    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 105.7194
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 85.7194
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 101.7194
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 91.7194
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 81.7194
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 125.0926
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 121.2634
-#    - 136.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 100.4697
-#    - 146.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 68.4432
-#    - 143.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 88.5994
-#    - 146.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 60.8507
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 79.2864
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 55.8898
-#    - 143.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 136.2686
-#    - 149.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-#  - spawn_position:
-#    - 155.4882
-#    - 146.51
-#    - 0.3
-#    - 0
-#    - 0
-#    - 0
-#    vehicle_speed_perc: -200
-
-vehicle_base:
-  sensing:
-    perception:
-      activate: true # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [ 2.5, 0, 1.0, 0 ]
-          - [ 0.0, 0.3, 1.8, 100 ]
-          - [ 0.0, -0.3, 1.8, -100 ]
-          - [ -2.0, 0.0, 1.5, 180 ]
-      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-        visualize: true
-
-    localization: &base_localize
-      activate: false # when not activated, ego position will be retrieved from server directly
-      gnss: # gnss sensor configuration
-        heading_direction_stddev: 0.1 # degree
-        speed_stddev: 0.2
-      debug_helper:
-        show_animation: false # whether to show real-time trajectory plotting
-        x_scale: 10.0 # used to multiply with the x coordinate to make the error on x axis clearer
-        y_scale: 10.0 # used to multiply with the y coordinate to make the error on y axis clearer
-  map_manager:
-    visualize: false
-    activate: false
-  behavior: &base_behavior
-    max_speed: 70 # maximum speed, km/h
-    tailgate_speed: 80 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-    collision_time_ahead: 1.1 # used for collision checking
-
-platoon_base:
-  max_capacity: 10
-  inter_gap: 0.6 # desired time gap
-  open_gap: 1.2 # open gap
-  warm_up_speed: 30 # required speed before cooperative merging
-
-
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [121.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 146.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 1
-        pldm: true
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 70 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: false
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav2
-      spawn_position: [111.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 143.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 2
-        pldm: true
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav3
-      spawn_position: [101.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 143.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 3
-        pldm: true
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-    - name: cav4
-      spawn_position: [91.7194, 143.51, 0.3, 0, 0, 0]
-      destination: [606.87, 143.39, 0]
-      sensing:
-        perception:
-          activate: false
-          camera:
-            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-            positions:
-              - [2.5, 0, 1.0, 0]
-              - [0.0, 0.3, 1.8, 100]
-              - [0.0, -0.3, 1.8, -100]
-              - [-2.0, 0.0, 1.5, 180]
-          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-            visualize: true
-      v2x:
-        communication_range: 35
-        platoon_init_pos: 4
-        pldm: true
-        intruder: false
-      behavior:
-        <<: *base_behavior
-        max_speed: 100 # maximum speed, km/h
-        tailgate_speed: 111
-        overtake_allowed: true
-        local_planner:
-          debug_trajectory: true
-          debug: false
-
-#    - name: cav5
-#      spawn_position: [81.7194, 143.51, 0.3, 0, 0, 0]
-#      destination: [606.87, 143.39, 0]
-#      sensing:
-#        perception:
-#          activate: false
-#          camera:
-#            visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-#            num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-#            # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-#            positions:
-#              - [2.5, 0, 1.0, 0]
-#              - [0.0, 0.3, 1.8, 100]
-#              - [0.0, -0.3, 1.8, -100]
-#              - [-2.0, 0.0, 1.5, 180]
-#          lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-#            visualize: true
-#      v2x:
-#        communication_range: 35
-#        platoon_init_pos: 0
-#        pldm: true
-#        intruder: true
-#      behavior:
-#        <<: *base_behavior
-#        max_speed: 100 # maximum speed, km/h
-#        tailgate_speed: 111
-#        overtake_allowed: true
-#        local_planner:
-#          debug_trajectory: true
-#          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
deleted file mode 100644
index 91ae909a8..000000000
--- a/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
-           testing in high speed in the customized 2lanefree simple version.
-
-# define the carla traffic
-carla_traffic_manager:
-  vehicle_list:
-    - spawn_position: [ -330, 8.3, 0.3, 0, 0, 0 ]
-      vehicle_speed_perc: 0
-    - spawn_position: [ -320, 4.8, 0.3, 0, 0, 0 ]
-      vehicle_speed_perc: -200
-    - spawn_position: [ -300, 8.3, 0.3, 0, 0, 0 ]
-      vehicle_speed_perc: -100
-    - spawn_position: [ -280, 4.8, 0.3, 0, 0, 0 ]
-      vehicle_speed_perc: -200
-
-
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [ -370, 8.3, 0.3, 0, 0, 0 ]
-      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
-      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
-      # spawn_special: [0.34]
-      destination: [ 700, 8.3, 0.3 ]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: true
-          debug: true
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
deleted file mode 100644
index 3951f7f0e..000000000
--- a/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
-           testing in high speed in the customized 2lanefree simple version. Co-simulation is activated.
-
-
-# define carla simulation setting
-world:
-  seed: 11
-
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  map_manager:
-    visualize: false
-    activate: false
-
-# define sumo simulation setting for traffic generation
-sumo:
-  port: ~
-  host: ~
-  gui: true
-  client_order: 1
-  step_length: ${world.fixed_delta_seconds}
-
-# define scenario. In this scenario, only a single CAV will be spawned
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [-370, 4.8, 0.3, 0, 0, 0]
-      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
-      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
-      # spawn_special: [0.34]
-      destination: [700, 8.3, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: true
-          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml b/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
deleted file mode 100644
index 4333dd1ca..000000000
--- a/opencda/scenario_testing/config_yaml/single_intersection_town06_carla.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for single vehicle perception/localization/behavior/control
-           testing in high speed in the customized 2lanefree simple version.
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      camera:
-        visualize: 0
-        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions: []
-  behavior:
-    max_speed: 50 # maximum speed, km/h
-    ignore_traffic_light: false # whether to ignore traffic light
-    collision_time_ahead: 2.0 # used for collision checking
-
-# define the background traffic control by carla
-carla_traffic_manager:
-  random: true # whether to random select vehicles' color and model
-  vehicle_list: ~  # a number or a list
-  # Used only when vehicle_list is a number.
-  # x_min, x_max, y_min, y_max, x_step, y_step, veh_num
-  range:
-    - [ 2, 10, 0, 200, 3.5, 25, 30]
-
-# define scenario. In this scenario, a 4-vehicle platoon already exists.
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [6.31, 125.03, 0.3, 0, -92, 0]
-      destination: [-12.51, 110.31, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: true
-          debug: true
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml b/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
deleted file mode 100644
index 9b3aa989e..000000000
--- a/opencda/scenario_testing/config_yaml/single_town05_cosim.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file town05 cosimulation.
-
-
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      camera:
-        visualize: 0 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 0 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions: []
-  behavior:
-    max_speed: 50 # maximum speed, km/h
-    tailgate_speed: 60 # when a vehicles needs to be close to another vehicle asap
-
-# define sumo simulation setting for traffic generation
-sumo:
-  port: 8813
-  host: localhost
-  gui: true
-  client_order: 1
-  step_length: ${world.fixed_delta_seconds}
-
-# define scenario. In this scenario, only a single CAV will be spawned
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [-54.59, -22.81, 0.60, 0, 60, 0]
-      # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
-      # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
-      # spawn_special: [0.34]
-      destination: [24.54, 161.94, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: true
-          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/single_town06_carla.yaml b/opencda/scenario_testing/config_yaml/single_town06_carla.yaml
deleted file mode 100644
index 2339f41fd..000000000
--- a/opencda/scenario_testing/config_yaml/single_town06_carla.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for single vehicle testing in town06 with perception/localization activated
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      activate: true # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [2.5, 0, 1.0, 0]
-          - [0.0, 0.3, 1.8, 100]
-          - [0.0, -0.3, 1.8, -100]
-          - [-2.0, 0.0, 1.5, 180]
-
-    localization:
-      activate: true # when not activated, ego position will be retrieved from server directly
-      debug_helper:
-        show_animation: true # whether to show real-time trajectory plotting
-
-  behavior:
-    ignore_traffic_light: false # whether to ignore traffic light
-    collision_time_ahead: 2.0 # used for collision checking
-
-
-# define the background traffic control by carla
-carla_traffic_manager:
-  random: true # whether to random select vehicles' color and model
-  ignore_lights_percentage: 0 # whether set the traffic ignore traffic lights
-  vehicle_list: ~  # a number or a list
-  # Used only when vehicle_list is a number.
-  # x_min, x_max, y_min, y_max, x_step, y_step
-  range:
-    - [ 50, 250, 135, 145, 50, 4, 30]
-
-# define scenario. In this scenario, only a single CAV will be spawned
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [47.7194, 139.51, 0.3, 0, 0, 0]
-      destination: [100, 145.51, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: false
-          debug: false
diff --git a/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml b/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
deleted file mode 100644
index ff26353f5..000000000
--- a/opencda/scenario_testing/config_yaml/single_town06_cosim.yaml
+++ /dev/null
@@ -1,59 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for single vehicle full-stack system in town06 with co-simulation
-
-# First define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-    perception:
-      activate: true # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 4 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [2.5, 0, 1.0, 0]
-          - [0.0, 0.3, 1.8, 100]
-          - [0.0, -0.3, 1.8, -100]
-          - [-2.0, 0.0, 1.5, 180]
-
-    localization:
-      activate: true # when not activated, ego position will be retrieved from server directly
-      debug_helper:
-        show_animation: true # whether to show real-time trajectory plotting
-
-  behavior:
-    ignore_traffic_light: false # whether to ignore traffic light
-    collision_time_ahead: 2.0 # used for collision checking
-
-# define sumo simulation setting for traffic generation
-sumo:
-  port: ~
-  host: ~
-  gui: true
-  client_order: 1
-  step_length: ${world.fixed_delta_seconds}
-
-
-# define scenario. In this scenario, only a single CAV will be spawned
-scenario:
-  single_cav_list: # this is for merging vehicle or single cav without v2x
-    - name: cav1
-      spawn_position: [47.7194, 139.51, 0.3, 0, 0, 0]
-      destination: [600, 145.51, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: false
-          debug: false
-    - name: cav2
-      spawn_position: [32.7194, 139.51, 0.3, 0, 0, 0]
-      destination: [600, 145.51, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: false
-          debug: false
\ No newline at end of file
diff --git a/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml b/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
deleted file mode 100644
index a66a48a81..000000000
--- a/opencda/scenario_testing/config_yaml/v2xp_datadump_town06_carla.yaml
+++ /dev/null
@@ -1,91 +0,0 @@
-description: |-
-  Copyright 2021 <UCLA Mobility Lab>
-  Author: Runsheng Xu <rxx3386@ucla.edu>
-  Content: This is the scenario testing configuration file for v2x perception data dumping
-
-# Define settings for multi-class blueprint spawning
-# Comment out this chunk of code or set use_multi_class_bp to be False if you don't want to spawn multi-class actors
-blueprint:
-  use_multi_class_bp: true
-  bp_meta_path: "opencda/assets/blueprint_meta/bbx_stats_0912.json" # Define the path for loading the blueprint metadata for defining the class of each blueprint
-  # Define blueprint type sample probabilities
-  bp_class_sample_prob:
-    car: 0.5
-    truck: 0.1
-    bus: 0.1
-    bicycle: 0.1
-    motorcycle: 0.1
-
-
-# Define the basic parameters of the vehicles
-vehicle_base:
-  sensing:
-      activate: false # when not activated, objects positions will be retrieved from server directly
-      camera:
-        visualize: 1 # how many camera images need to be visualized. 0 means no visualization for camera
-        num: 4 # how many cameras are mounted on the vehicle. Maximum 3(frontal, left and right cameras)
-        # relative positions (x,y,z,yaw) of the camera. len(positions) should be equal to camera num
-        positions:
-          - [2.5, 0, 1.0, 0]
-          - [0.0, 0.3, 1.8, 100]
-          - [0.0, -0.3, 1.8, -100]
-          - [-2.0, 0.0, 1.5, 180]
-      lidar: # lidar sensor configuration, check CARLA sensor reference for more details
-        visualize: true
-        channels: 32
-        range: 120
-        points_per_second: 1000000
-        rotation_frequency: 20 # the simulation is 20 fps
-        upper_fov: 2
-        lower_fov: -25
-        dropoff_general_rate: 0.3
-        dropoff_intensity_limit: 0.7
-        dropoff_zero_intensity: 0.4
-        noise_stddev: 0.02
-  map_manager:
-    visualize: false
-    activate: false
-  behavior:
-    max_speed: 30 # maximum speed, km/h
-    tailgate_speed: 34 # when a vehicles needs to be close to another vehicle asap
-    overtake_allowed: false # whether overtake allowed, typically false for platoon leader
-
-
-# define the background traffic control by carla
-carla_traffic_manager:
-  global_speed_perc: -10
-  auto_lane_change: true
-  random: true # whether to random select vehicles' color and model
-  ignore_lights_percentage: 100 # whether set the traffic ignore traffic lights
-  vehicle_list: ~  # a number or a list
-  # Used only when vehicle_list is a number.
-  #  x_min, x_max, y_min, y_max, x_step, y_step, vehicle_num
-  range:
-    - [-11, 12, 100, 200, 3.5, 15, 25]
-
-# define scenario. In this scenario, a 4-vehicle platoon already exists.
-scenario:
-  rsu_list:
-    - name: rsu1
-      spawn_position: [12.00, 192.31, 3.0]
-      id: -1
-
-  single_cav_list:
-    - name: cav1
-      spawn_position: [12.00, 192.31, 0.3, 0, -90, 0]
-      destination: [67.12, 150.2, 1.0]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: false
-          debug: false
-    - name: cav2
-      spawn_position: [-5.51, 110.24, 0.3, 0, 90, 0]
-      destination: [-2.43, 263, 0.3]
-      v2x:
-        communication_range: 45
-      behavior:
-        local_planner:
-          debug_trajectory: false
-          debug: false
diff --git a/opencda/scenario_testing/platoon_joining_2lanefree_carla.py b/opencda/scenario_testing/platoon_joining_2lanefree_carla.py
deleted file mode 100644
index 431d867c5..000000000
--- a/opencda/scenario_testing/platoon_joining_2lanefree_carla.py
+++ /dev/null
@@ -1,102 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: merging vehicle joining a platoon in the
-customized 2-lane freeway simplified map sorely with carla
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import os
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import \
-    add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        # first define the path of the yaml file and 2lanefreemap file
-        scenario_params = add_current_time(scenario_params)
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        xodr_path = os.path.join(
-            current_path,
-            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   xodr_path=xodr_path,
-                                                   carla_host=opt.host,
-                                                   carla_port=opt.port)
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("platoon_joining_2lanefree_carla.log", True)
-
-        # create platoon members
-        platoon_list = \
-            scenario_manager.create_platoon_manager(
-                map_helper=map_api.spawn_helper_2lanefree,
-                data_dump=False)
-
-        # create single cavs
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['platooning'],
-                                                    map_api.
-                                                    spawn_helper_2lanefree)
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_joining_2lanefree_carla',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = platoon_list[0].vehicle_manager_list[1].vehicle
-
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(
-                carla.Transform(
-                    transform.location +
-                    carla.Location(
-                        z=80),
-                    carla.Rotation(
-                        pitch=-
-                        90)))
-            for platoon in platoon_list:
-                platoon.update_information()
-                platoon.run_step()
-
-            for i, single_cav in enumerate(single_cav_list):
-                # this function should be added in wrapper
-                if single_cav.v2x_manager.in_platoon():
-                    single_cav_list.pop(i)
-                else:
-                    single_cav.update_info()
-                    control = single_cav.run_step()
-                    single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for platoon in platoon_list:
-            platoon.destroy()
-        for cav in single_cav_list:
-            cav.destroy()
-        for v in bg_veh_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py b/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
deleted file mode 100644
index 8f7034fa8..000000000
--- a/opencda/scenario_testing/platoon_joining_2lanefree_cosim.py
+++ /dev/null
@@ -1,102 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: merging vehicle joining a platoon in the
-customized 2-lane freeway simplified map sorely with co-sim
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # sumo conifg file path
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        xodr_path = os.path.join(current_path,
-                                 '../assets/2lane_freeway_simplified/'
-                                 '2lane_freeway_simplified.xodr')
-        sumo_cfg = os.path.join(current_path,
-                                '../assets/2lane_freeway_simplified')
-
-        # create co-simulation scenario manager
-        scenario_manager = \
-            sim_api.CoScenarioManager(scenario_params,
-                                      opt.apply_ml,
-                                      opt.version,
-                                      xodr_path=xodr_path,
-                                      cav_world=cav_world,
-                                      sumo_file_parent_path=sumo_cfg)
-
-        # create platoon members
-        platoon_list = \
-            scenario_manager.create_platoon_manager(
-                map_helper=map_api.spawn_helper_2lanefree,
-                data_dump=False)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['platooning'],
-                                                    map_helper=map_api.
-                                                    spawn_helper_2lanefree)
-
-        msvan3tAgent = Msvan3tAgent(cav_world,
-                                    cav_list=single_cav_list,
-                                    cosim_manager=scenario_manager,
-                                    platoon_list=platoon_list)
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_cosim',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = platoon_list[0].vehicle_manager_list[1].vehicle
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=80),
-                                                    carla.Rotation(pitch=-90)))
-
-            for platoon in platoon_list:
-                platoon.update_information()
-                platoon.run_step()
-
-            for i, single_cav in enumerate(single_cav_list):
-                if single_cav.v2x_manager.in_platoon():
-                    single_cav_list.pop(i)
-
-                single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-
-        for platoon in platoon_list:
-            platoon.destroy()
-
-        for v in single_cav_list:
-            v.destroy()
-
-        msvan3tAgent.destroy()
diff --git a/opencda/scenario_testing/platoon_joining_town06_carla.py b/opencda/scenario_testing/platoon_joining_town06_carla.py
deleted file mode 100644
index cbc69ee87..000000000
--- a/opencda/scenario_testing/platoon_joining_town06_carla.py
+++ /dev/null
@@ -1,92 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: merging vehicle joining a platoon in the customized 2-lane
-freeway sorely with carla Warning: You have to load the 2lanefreecomplete
-map into your ue4 editor before running this
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06')
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("platoon_joining_2lanefree_carla.log", True)
-
-        # create platoon members
-        platoon_list = \
-            scenario_manager.create_platoon_manager(
-                data_dump=False)
-
-        # create single cavs
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['platooning'])
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_joining_town06_carla',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[0].vehicle
-
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(
-                carla.Transform(
-                    transform.location +
-                    carla.Location(
-                        z=80),
-                    carla.Rotation(
-                        pitch=-
-                        90)))
-            for platoon in platoon_list:
-                platoon.update_information()
-                platoon.run_step()
-
-            for i, single_cav in enumerate(single_cav_list):
-                # this function should be added in wrapper
-                if single_cav.v2x_manager.in_platoon():
-                    single_cav_list.pop(i)
-                else:
-                    single_cav.update_info_LDM()
-                    control = single_cav.run_step()
-                    single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for platoon in platoon_list:
-            platoon.destroy()
-        for cav in single_cav_list:
-            cav.destroy()
-        for v in bg_veh_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/platoon_stability_2lanefree_carla.py b/opencda/scenario_testing/platoon_stability_2lanefree_carla.py
deleted file mode 100644
index 5dadaa500..000000000
--- a/opencda/scenario_testing/platoon_stability_2lanefree_carla.py
+++ /dev/null
@@ -1,172 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: merging vehicle joining a platoon in the customized 2-lane
-freeway simplified map sorely with carla
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import sys
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-from opencda.core.common.misc import get_speed
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        xodr_path = os.path.join(
-            current_path,
-            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   xodr_path=xodr_path)
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("single_town06_carla.log", True)
-
-        # create platoon members
-        platoon_list = scenario_manager.create_platoon_manager()
-
-        # create traffic flow if any
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        if len(platoon_list) > 1:
-            sys.exit("In this scenario testing, "
-                     "only single platoon is allowed.")
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = platoon_list[0].vehicle_manager_list[0].vehicle
-
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platon_stability',
-                              current_time=scenario_params['current_time'])
-        # adjusting leader speed
-        leader_speed_profile = \
-            scenario_params['platoon_base']['leader_speeds_profile']
-        stage_duration = scenario_params['platoon_base']['stage_duration']
-
-        test_platoon_manager = platoon_list[0]
-
-        if len(leader_speed_profile) > 1:
-            platoon_speed_adjusting = True
-            time_counter = 0
-            stage = 0
-        else:
-            platoon_speed_adjusting = False
-
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(
-                carla.Transform(
-                    transform.location +
-                    carla.Location(
-                        z=80),
-                    carla.Rotation(
-                        pitch=-
-                        90)))
-
-            test_platoon_manager.update_information()
-            test_platoon_manager.run_step()
-
-            # leader speed change to test the stability of the platoon
-            if platoon_speed_adjusting:
-                leader_speed = get_speed(spectator_vehicle, True) * 3.6
-
-                # stage 0
-                if stage == 0:
-                    print('stage 0, accelrate to %f' % leader_speed_profile[0])
-                    if leader_speed >= (leader_speed_profile[0] - 3):
-                        stage = 1
-                    else:
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[0]
-
-                # stage 1
-                if stage == 1:
-                    print(
-                        'stage 1, speed has keep for %f second' %
-                        (time_counter * 0.05))
-                    if time_counter >= stage_duration / 0.05:
-                        stage = 2
-                        time_counter = 0
-                    else:
-                        time_counter += 1
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[0]
-
-                # stage2: accelerate to next level
-                if stage == 2:
-                    print(
-                        'stage 2, accelerate to %f' %
-                        leader_speed_profile[1])
-                    if leader_speed >= (leader_speed_profile[1] - 3):
-                        stage = 3
-                    else:
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[1]
-
-                # stage3: keep velocity for a fixed duration
-                if stage == 3:
-                    print(
-                        'stage 3, speed has keep for %f second' %
-                        (time_counter * 0.05))
-                    if time_counter >= stage_duration / 0.05:
-                        stage = 4
-                        time_counter = 0
-                    else:
-                        time_counter += 1
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[1]
-
-                # stage4: de-accelerate the velocity back to stage1
-                if stage == 4:
-                    print(
-                        'stage 4, de-accelerate to %f' %
-                        leader_speed_profile[0])
-                    if leader_speed <= (leader_speed_profile[0] + 3):
-                        stage = 5
-                    else:
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[0]
-
-                # stage5: keep the speed for another duration
-                if stage == 5:
-                    print(
-                        'stage5, speed has keep for %f second' %
-                        (time_counter * 0.05))
-                    if time_counter >= stage_duration / 0.05:
-                        break
-                    else:
-                        time_counter += 1
-                        test_platoon_manager.origin_leader_target_speed = \
-                            leader_speed_profile[0]
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for platoon in platoon_list:
-            platoon.destroy()
-
-        for v in bg_veh_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/platoon_test_docker.py b/opencda/scenario_testing/platoon_test_docker.py
deleted file mode 100644
index c80fef44b..000000000
--- a/opencda/scenario_testing/platoon_test_docker.py
+++ /dev/null
@@ -1,78 +0,0 @@
-import os
-from datetime import datetime
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-import time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        #  Create log directory
-        date = datetime.now()
-        if opt.pldm:
-            dir_name = date.strftime('/home/OpenCDA/logs/PLDM/log_%d_%m_%H_%M_%S')
-        else:
-            dir_name = date.strftime('/home/OpenCDA/logs/LDM/log_%d_%m_%H_%M_%S')
-        home_dir = os.path.expanduser('~')
-        full_path = os.path.join(home_dir, dir_name)
-        os.mkdir(full_path)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create co-simulation scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   cav_world=cav_world)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['platooning'],
-                                                    pldm=opt.pldm,
-                                                    log_dir=full_path)
-
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_test_town06',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[0].vehicle
-        last_time = time.time_ns() / 1000000
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-            # print('Tick: ', time.time_ns() / 1000000 - last_time)
-            last_time = time.time_ns() / 1000000
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=80),
-                                                    carla.Rotation(pitch=-90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/platoon_test_town5.py b/opencda/scenario_testing/platoon_test_town5.py
deleted file mode 100644
index 4b00cc4d4..000000000
--- a/opencda/scenario_testing/platoon_test_town5.py
+++ /dev/null
@@ -1,114 +0,0 @@
-import os
-from datetime import datetime
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-import time
-from opencda.scenario_testing.utils.load_dashboard import LoadDashboard
-import random
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create co-simulation scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town05',
-                                                   cav_world=cav_world)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['platooning'],
-                                                    pldm=opt.pldm)
-
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_test_town06',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[0].vehicle
-        last_time = time.time_ns() / 1000000
-
-        transform = spectator_vehicle.get_transform()
-        spectator.set_transform(carla.Transform(transform.location +
-                                                carla.Location(z=20),
-                                                carla.Rotation(pitch=-45)))
-
-        # load_dashboard = LoadDashboard(single_cav_list)
-
-        # ped_blueprints = scenario_manager.world.get_blueprint_library().filter("walker.*")
-        # player = scenario_manager.world.spawn_actor(random.choice(ped_blueprints),
-        #                                             carla.Transform(carla.Location(x=-65, y=-22, z=0),
-        #                                                             carla.Rotation(pitch=0)))
-        # transform = player.get_transform()
-        # spectator.set_transform(carla.Transform(transform.location +
-        #                                         carla.Location(z=20),
-        #                                         carla.Rotation(pitch=-90)))
-        # player_control = carla.WalkerControl()
-        # player_control.speed = 3
-        # pedestrian_heading = 90
-        # player_rotation = carla.Rotation(0, pedestrian_heading, 0)
-        # player_control.direction = player_rotation.get_forward_vector()
-        # player.apply_control(player_control)
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-            # print('Tick: ', time.time_ns() / 1000000 - last_time)
-            last_time = time.time_ns() / 1000000
-            transform = spectator_vehicle.get_transform()
-            transform.location.x += 15
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=80),
-                                                    carla.Rotation(pitch=-90)))
-            states = []
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                if single_cav.PLDM is not None:
-                    states.append(computeCostPLDM(single_cav.PLDM, single_cav.vehicle.id) + single_cav.agent.control_cost)
-                elif single_cav.LDM is not None and not single_cav.intruder:
-                    states.append(computeCostLDM(single_cav.LDM)+single_cav.agent.control_cost)
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-            # load_dashboard.states = states
-            time.sleep(0.05)
-
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-
-def computeCostLDM(LDM):
-    POs = LDM.getAllPOs()
-    cost = 0
-    for PO in POs:
-        cost += 1 + len(PO.perceivedBy) * 1
-    return cost
-def computeCostPLDM(LDM, id):
-    POs = LDM.getAllPOs()
-    cost = 0
-    for PO in POs:
-        cost += 1
-        if PO.assignedPM == id:
-            cost += len(PO.perceivedBy) * 1
-    return cost
-def run_dashboard():
-    LoadDashboard()
\ No newline at end of file
diff --git a/opencda/scenario_testing/platoon_test_town6.py b/opencda/scenario_testing/platoon_test_town6.py
deleted file mode 100644
index 9a9b21511..000000000
--- a/opencda/scenario_testing/platoon_test_town6.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import os
-from datetime import datetime
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-import time
-from opencda.scenario_testing.utils.load_dashboard import LoadDashboard
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        #  Create log directory
-        date = datetime.now()
-        if opt.pldm:
-            dir_name = date.strftime('logs/logsPLDM/log_%d_%m_%H_%M_%S')
-        else:
-            dir_name = date.strftime('logs/logsLDM/log_%d_%m_%H_%M_%S')
-        home_dir = os.path.expanduser('~')
-        full_path = os.path.join(home_dir, dir_name)
-        os.mkdir(full_path)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create co-simulation scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   cav_world=cav_world)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['platooning'],
-                                                    pldm=opt.pldm,
-                                                    log_dir=full_path)
-
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_test_town06',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[2].vehicle
-        last_time = time.time_ns() / 1000000
-
-        transform = spectator_vehicle.get_transform()
-        spectator.set_transform(carla.Transform(transform.location +
-                                                carla.Location(z=30),
-                                                carla.Rotation(pitch=-45)))
-
-        # load_dashboard = LoadDashboard(single_cav_list)
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-            # print('Tick: ', time.time_ns() / 1000000 - last_time)
-            last_time = time.time_ns() / 1000000
-            transform = spectator_vehicle.get_transform()
-            transform.location.x += 15
-            # spectator.set_transform(carla.Transform(transform.location +
-            #                                         carla.Location(z=80),
-            #                                         carla.Rotation(pitch=-90)))
-            states = []
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                if single_cav.PLDM is not None:
-                    states.append(computeCostPLDM(single_cav.PLDM, single_cav.vehicle.id) + single_cav.agent.control_cost)
-                elif single_cav.LDM is not None and not single_cav.intruder:
-                    states.append(computeCostLDM(single_cav.LDM)+single_cav.agent.control_cost)
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-            # load_dashboard.states = states
-
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-
-def computeCostLDM(LDM):
-    POs = LDM.getAllPOs()
-    cost = 0
-    for PO in POs:
-        cost += 1 + len(PO.perceivedBy) * 1
-    return cost
-def computeCostPLDM(LDM, id):
-    POs = LDM.getAllPOs()
-    cost = 0
-    for PO in POs:
-        cost += 1
-        if PO.assignedPM == id:
-            cost += len(PO.perceivedBy) * 1
-    return cost
-def run_dashboard():
-    LoadDashboard()
\ No newline at end of file
diff --git a/opencda/scenario_testing/single_2lanefree_carla.py b/opencda/scenario_testing/single_2lanefree_carla.py
deleted file mode 100644
index 5b485317b..000000000
--- a/opencda/scenario_testing/single_2lanefree_carla.py
+++ /dev/null
@@ -1,87 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: Single vehicle dring in the customized 2 lane highway map.
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import \
-    add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        xodr_path = os.path.join(
-            current_path,
-            '../assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr')
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   xodr_path=xodr_path,
-                                                   cav_world=cav_world)
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("single_2lanefree_carla.log", True)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'],
-                                                    map_helper=map_api.
-                                                    spawn_helper_2lanefree)
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_carla',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(
-                transform.location +
-                carla.Location(
-                    z=70),
-                carla.Rotation(
-                    pitch=-
-                    90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-        for v in bg_veh_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/single_2lanefree_cosim.py b/opencda/scenario_testing/single_2lanefree_cosim.py
deleted file mode 100644
index 5d4221a59..000000000
--- a/opencda/scenario_testing/single_2lanefree_cosim.py
+++ /dev/null
@@ -1,76 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: Single vehicle dring in the customized 2 lane highway map
-with cosimulation.
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # sumo conifg file path
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        xodr_path = os.path.join(current_path,
-                                 '../assets/2lane_freeway_simplified/'
-                                 '2lane_freeway_simplified.xodr')
-        sumo_cfg = os.path.join(current_path,
-                                '../assets/2lane_freeway_simplified')
-
-        # create co-simulation scenario manager
-        scenario_manager = \
-            sim_api.CoScenarioManager(scenario_params,
-                                      opt.apply_ml,
-                                      opt.version,
-                                      xodr_path=xodr_path,
-                                      cav_world=cav_world,
-                                      sumo_file_parent_path=sumo_cfg)
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'],
-                                                    map_helper=map_api.
-                                                    spawn_helper_2lanefree)
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_cosim',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=50),
-                                                    carla.Rotation(pitch=-90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/single_intersection_town06_carla.py b/opencda/scenario_testing/single_intersection_town06_carla.py
deleted file mode 100644
index f64f09340..000000000
--- a/opencda/scenario_testing/single_intersection_town06_carla.py
+++ /dev/null
@@ -1,78 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: single vehicle behavior in intersection
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   cav_world=cav_world)
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("single_town06_carla.log", True)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'])
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_intersection_town06_carla',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(
-                transform.location +
-                carla.Location(
-                    z=50),
-                carla.Rotation(
-                    pitch=-
-                    90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-        for v in bg_veh_list:
-            v.destroy()
-
diff --git a/opencda/scenario_testing/single_town05_cosim.py b/opencda/scenario_testing/single_town05_cosim.py
deleted file mode 100644
index d08d4c49d..000000000
--- a/opencda/scenario_testing/single_town05_cosim.py
+++ /dev/null
@@ -1,68 +0,0 @@
-# -*- coding: utf-8 -*-
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # sumo conifg file path
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        sumo_cfg = os.path.join(current_path,
-                                '../assets/Town05')
-
-        # create co-simulation scenario manager
-        scenario_manager = \
-            sim_api.CoScenarioManager(scenario_params,
-                                      opt.apply_ml,
-                                      opt.version,
-                                      town='Town05',
-                                      cav_world=cav_world,
-                                      sumo_file_parent_path=sumo_cfg)
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'],
-                                                    map_helper=map_api.
-                                                    spawn_helper_2lanefree)
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_cosim',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=50),
-                                                    carla.Rotation(pitch=-90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/single_town06_carla.py b/opencda/scenario_testing/single_town06_carla.py
deleted file mode 100644
index 6cf52247f..000000000
--- a/opencda/scenario_testing/single_town06_carla.py
+++ /dev/null
@@ -1,80 +0,0 @@
-# -*- coding: utf-8 -*-
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-
-
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   carla_host=opt.host,
-                                                   carla_port=opt.port,
-                                                   cav_world=cav_world)
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("single_town06_carla.log", True)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'])
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_carla',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        # run steps
-        while True:
-            scenario_manager.tick()
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(
-                transform.location +
-                carla.Location(
-                    z=50),
-                carla.Rotation(
-                    pitch=-
-                    90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-        for v in bg_veh_list:
-            v.destroy()
-
diff --git a/opencda/scenario_testing/single_town06_cosim.py b/opencda/scenario_testing/single_town06_cosim.py
deleted file mode 100644
index 51f2e2deb..000000000
--- a/opencda/scenario_testing/single_town06_cosim.py
+++ /dev/null
@@ -1,73 +0,0 @@
-# -*- coding: utf-8 -*-
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # sumo conifg file path
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        sumo_cfg = os.path.join(current_path,
-                                '../assets/Town06')
-
-        # create co-simulation scenario manager
-        scenario_manager = \
-            sim_api.CoScenarioManager(scenario_params,
-                                      opt.apply_ml,
-                                      opt.version,
-                                      town='Town06',
-                                      cav_world=cav_world,
-                                      sumo_file_parent_path=sumo_cfg)
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'],
-                                                    map_helper=map_api.
-                                                    spawn_helper_2lanefree)
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='single_2lanefree_cosim',
-                              current_time=scenario_params['current_time'])
-
-        msvan3tAgent = Msvan3tAgent(cav_world,
-                                    cav_list=single_cav_list,
-                                    cosim_manager=scenario_manager)
-
-        spectator = scenario_manager.world.get_spectator()
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=50),
-                                                    carla.Rotation(pitch=-90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/tracking_test.py b/opencda/scenario_testing/tracking_test.py
deleted file mode 100644
index 4784ad06e..000000000
--- a/opencda/scenario_testing/tracking_test.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import os
-from datetime import datetime
-import carla
-
-import opencda.scenario_testing.utils.cosim_api as sim_api
-import opencda.scenario_testing.utils.customized_map_api as map_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time
-from opencda.customize.msvan3t.msvan3t_agent import Msvan3tAgent
-import time
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create co-simulation scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   cav_world=cav_world)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(['single'],
-                                                    pldm=opt.pldm)
-
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='platoon_test_town06',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-        spectator_vehicle = single_cav_list[0].vehicle
-        last_time = time.time_ns() / 1000000
-
-        while True:
-            # simulation tick
-            scenario_manager.tick()
-            # print('Tick: ', time.time_ns() / 1000000 - last_time)
-            last_time = time.time_ns() / 1000000
-            transform = spectator_vehicle.get_transform()
-            spectator.set_transform(carla.Transform(transform.location +
-                                                    carla.Location(z=80),
-                                                    carla.Rotation(pitch=-90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info_LDM()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-
-    finally:
-        eval_manager.evaluate()
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
diff --git a/opencda/scenario_testing/v2xp_datadump_town06_carla.py b/opencda/scenario_testing/v2xp_datadump_town06_carla.py
deleted file mode 100644
index 3f2fddcc6..000000000
--- a/opencda/scenario_testing/v2xp_datadump_town06_carla.py
+++ /dev/null
@@ -1,96 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Scenario testing: merging vehicle joining a platoon in the
-customized 2-lane freeway simplified map sorely with carla
-"""
-# Author: Runsheng Xu <rxx3386@ucla.edu>
-# License: TDG-Attribution-NonCommercial-NoDistrib
-import os
-
-import carla
-
-import opencda.scenario_testing.utils.sim_api as sim_api
-from opencda.core.common.cav_world import CavWorld
-from opencda.scenario_testing.evaluations.evaluate_manager import \
-    EvaluationManager
-from opencda.scenario_testing.utils.yaml_utils import add_current_time, save_yaml
-
-
-def run_scenario(opt, scenario_params):
-    try:
-        scenario_params = add_current_time(scenario_params)
-
-        # create CAV world
-        cav_world = CavWorld(opt.apply_ml)
-
-        # create scenario manager
-        scenario_manager = sim_api.ScenarioManager(scenario_params,
-                                                   opt.apply_ml,
-                                                   opt.version,
-                                                   town='Town06',
-                                                   cav_world=cav_world)
-
-        if opt.record:
-            scenario_manager.client. \
-                start_recorder("single_town06_carla.log", True)
-
-        single_cav_list = \
-            scenario_manager.create_vehicle_manager(application=['single'],
-                                                    data_dump=True)
-        rsu_list = \
-            scenario_manager.create_rsu_manager(data_dump=True)
-
-        # create background traffic in carla
-        traffic_manager, bg_veh_list = \
-            scenario_manager.create_traffic_carla()
-
-        # create evaluation manager
-        eval_manager = \
-            EvaluationManager(scenario_manager.cav_world,
-                              script_name='coop_town06',
-                              current_time=scenario_params['current_time'])
-
-        spectator = scenario_manager.world.get_spectator()
-
-        # save the data collection protocol to the folder
-        current_path = os.path.dirname(os.path.realpath(__file__))
-        save_yaml_name = os.path.join(current_path,
-                                      '../../data_dumping',
-                                      scenario_params['current_time'],
-                                      'data_protocol.yaml')
-        save_yaml(scenario_params, save_yaml_name)
-
-        while True:
-            scenario_manager.tick()
-            transform = single_cav_list[0].vehicle.get_transform()
-            spectator.set_transform(carla.Transform(
-                transform.location +
-                carla.Location(
-                    z=70),
-                carla.Rotation(
-                    pitch=-
-                    90)))
-
-            for i, single_cav in enumerate(single_cav_list):
-                single_cav.update_info()
-                control = single_cav.run_step()
-                single_cav.vehicle.apply_control(control)
-
-            for rsu in rsu_list:
-                rsu.update_info()
-                rsu.run_step()
-
-    finally:
-        eval_manager.evaluate()
-
-        if opt.record:
-            scenario_manager.client.stop_recorder()
-
-        scenario_manager.close()
-
-        for v in single_cav_list:
-            v.destroy()
-        for r in rsu_list:
-            r.destroy()
-        for v in bg_veh_list:
-            v.destroy()