Excuse me,Could you give any instruction about how to run the code?

[lz321cc321]

hi!Prateek Parmeshwar
I only get this follow result, but can't get this overtake result.
Can you tell me how can I get this overtake result?

Best regards:
han zhen

[pparmesh]

Hi Han,
Try playing around with the costs for deviation from reference trajectory and deviation from desired speed. I don't recall the exact values for those costs unfortunately.