diff --git a/LibCarla/cmake/fast_dds/CMakeLists.txt b/LibCarla/cmake/fast_dds/CMakeLists.txt
index e105a9fe28..96f23d8e8d 100644
--- a/LibCarla/cmake/fast_dds/CMakeLists.txt
+++ b/LibCarla/cmake/fast_dds/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.5.1)# 指定CMake的最低版本要求
-project(libcarla_fastdds)# 设置项目名称和版本
+cmake_minimum_required(VERSION 3.5.1)# 鎸囧畾CMake鐨勬渶浣庣増鏈姹�
+project(libcarla_fastdds)# 璁剧疆椤圭洰鍚嶇О鍜岀増鏈�
 
 
-# 安装头文件  
-# 使用file(GLOB)命令收集所有相关的头文件，并将它们安装到include/carla/ros2目录下
+# 瀹夎澶存枃浠�  
+# 浣跨敤file(GLOB)鍛戒护鏀堕泦鎵�鏈夌浉鍏崇殑澶存枃浠讹紝骞跺皢瀹冧滑瀹夎鍒癷nclude/carla/ros2鐩綍涓�
 file(GLOB libcarla_carla_fastdds_headers
   "${libcarla_source_path}/carla/ros2/publishers/*.h"
   "${libcarla_source_path}/carla/ros2/subscribers/*.h"
@@ -11,51 +11,52 @@ file(GLOB libcarla_carla_fastdds_headers
   "${libcarla_source_path}/carla/ros2/types/*.h"
   )
 install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2)
-# 安装Fast DDS的动态链接库文件
+# 瀹夎Fast DDS鐨勫姩鎬侀摼鎺ュ簱鏂囦欢
 file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.so*")
 install(FILES ${fast_dds_dependencies} DESTINATION lib)
 
-# 收集libcarla_fastdds的源文件
+# 鏀堕泦libcarla_fastdds鐨勬簮鏂囦欢
 file(GLOB libcarla_fastdds_sources
   "${libcarla_source_path}/carla/ros2/publishers/*.cpp"
   "${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
   "${libcarla_source_path}/carla/ros2/listeners/*.cpp"
   "${libcarla_source_path}/carla/ros2/types/*.cpp")
-# 设置C++标准库头文件路径和编译选项
+# 璁剧疆C++鏍囧噯搴撳ご鏂囦欢璺緞鍜岀紪璇戦�夐」
 set(FASTDDS_CPP_STD_INCLUDES "/usr/include/c++/7")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CPP_STD_INCLUDES}" CACHE STRING "" FORCE)
-# 根据是否启用发布或调试构建，创建相应的目标
+# 鏍规嵁鏄惁鍚敤鍙戝竷鎴栬皟璇曟瀯寤猴紝鍒涘缓鐩稿簲鐨勭洰鏍�
 # ==============================================================================
 # Create targets for debug and release in the same build type.
 # ==============================================================================
-# 如果启用了发布版本构建
+# 濡傛灉鍚敤浜嗗彂甯冪増鏈瀯寤�
 if (LIBCARLA_BUILD_RELEASE)
-# 添加一个静态库目标
+# 娣诲姞涓�涓潤鎬佸簱鐩爣
   add_library(carla_fastdds STATIC ${libcarla_fastdds_sources})
-   # 设置包含目录
+   # 璁剧疆鍖呭惈鐩綍
   target_include_directories(carla_fastdds SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
       "${RPCLIB_INCLUDE_PATH}")
-   # 添加Fast DDS和其他私有包含目录
+   # 娣诲姞Fast DDS鍜屽叾浠栫鏈夊寘鍚洰褰�
   target_include_directories(carla_fastdds PRIVATE "${FASTDDS_INCLUDE_PATH}")
-  target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")
-  # 链接依赖库
+  target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")# 灏嗘寚瀹氳矾寰� "${libcarla_source_path}/carla/ros2" 娣诲姞涓哄悕涓� carla_fastdds 杩欎釜鐩爣鐨勭鏈夊寘鍚洰褰曘��
+# 杩欐牱鍦ㄧ紪璇戜笌 carla_fastdds 鐩稿叧浠ｇ爜鏃讹紝缂栬瘧鍣ㄥ氨鑳藉湪璇ョ洰褰曚笅鏌ユ壘澶存枃浠剁瓑锛孭RIVATE 琛ㄧず姝ゅ寘鍚洰褰曚粎瀵� carla_fastdds 鑷韩鐨勭紪璇戣捣浣滅敤銆�
+  # 閾炬帴渚濊禆搴�
   target_link_libraries(carla_fastdds fastrtps fastcdr "${FAST_DDS_LIBRARIES}")
-  # 安装库到lib目录
+  # 瀹夎搴撳埌lib鐩綍
   install(TARGETS carla_fastdds DESTINATION lib)
   set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
 
 endif()
-# 如果启用了调试版本构建
+# 濡傛灉鍚敤浜嗚皟璇曠増鏈瀯寤�
 if (LIBCARLA_BUILD_DEBUG)
- # 添加一个静态库目标（调试版）
-  add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})# 设置包含目录
+ # 娣诲姞涓�涓潤鎬佸簱鐩爣锛堣皟璇曠増锛�
+  add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})# 璁剧疆鍖呭惈鐩綍
  target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
       "${RPCLIB_INCLUDE_PATH}")
-      # 安装调试版库到lib目录 
+      # 瀹夎璋冭瘯鐗堝簱鍒發ib鐩綍 
   install(TARGETS carla_fastdds_debug DESTINATION lib)
-  set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")# 设置编译标志
-  target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)# 启用Boost的ASIO调试
+  set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")# 璁剧疆缂栬瘧鏍囧織
+  target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)# 鍚敤Boost鐨凙SIO璋冭瘯
 
 endif()
diff --git a/PythonAPI/carla/setup.py b/PythonAPI/carla/setup.py
index 8a527f1480..e86900310b 100644
--- a/PythonAPI/carla/setup.py
+++ b/PythonAPI/carla/setup.py
@@ -123,7 +123,9 @@ def walk(folder, file_filter='*'):
             # extra_link_args += ['/usr/lib/gcc/x86_64-linux-gnu/7/libstdc++.a']
             extra_link_args += ['-lstdc++']
         else:
-            raise NotImplementedError(linux_distro + " not in supported posix platforms: " + str(supported_dists))
+            raise NotImplementedError(linux_distro + " not in supported posix platforms: " + str(supported_dists))# 鎶涘嚭涓�涓狽otImplementedError寮傚父锛屽紓甯镐俊鎭敱褰撳墠鐨凩inux鍙戣鐗堝悕绉帮紙linux_distro鍙橀噺鐨勫�硷級
+# 涓庢彁绀轰俊鎭嫾鎺ヨ�屾垚锛屾彁绀轰俊鎭〃鏄庡綋鍓嶈繖涓狶inux鍙戣鐗堜笉鍦ㄦ敮鎸佺殑POSIX骞冲彴鍒楄〃锛坰upported_dists鍙橀噺杞垚瀛楃涓插悗鐨勫唴瀹癸級涔嬩腑锛�
+# 閫氬父鐢ㄤ簬琛ㄧず褰撳墠浠ｇ爜鎵�鍦ㄧ幆澧冨搴旂殑Linux鍙戣鐗堜笉琚▼搴忔墍鏀寔锛岄渶瑕佽繘琛岀浉搴旈�傞厤绛夋儏鍐点��
     elif os.name == "nt":
         pwd = os.path.dirname(os.path.realpath(__file__))
         pylib = 'libboost_python%d%d' % (
diff --git a/PythonAPI/util/check_lidar_bb.py b/PythonAPI/util/check_lidar_bb.py
index 7b496b4d1b..40c5786341 100644
--- a/PythonAPI/util/check_lidar_bb.py
+++ b/PythonAPI/util/check_lidar_bb.py
@@ -150,7 +150,7 @@ def lidar_is_outside_bb(self, check_axis = [True, True, True]):
 
         return False
     
-    def check_lidar_data(self):
+    def check_lidar_data(self):// 瀹氫箟绫绘柟娉昪heck_lidar_data锛屽彲鑳界敤浜庢鏌ユ縺鍏夐浄杈炬暟鎹紝鍏蜂綋鍔熻兘鐪嬪唴閮ㄥ疄鐜般��
         if self.lidar_is_outside_bb():
             print("Error!!! Points of lidar point cloud are outside its BB for car %d: %s " % (self._actor_id, self._actor_type))
             self.print()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
index 63320dca83..b73ad2c24f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
@@ -114,7 +114,11 @@ class CARLA_API UCarlaEpisode : public UObject
     // Material Parameters 涓殑鏇存柊鏃堕棿
     if (MaterialParameters)
     {
-      MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTime);
+      MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTime);// 閫氳繃MaterialParameters鎸囬拡璋冪敤SetScalarParameterValue鍑芥暟
+// 绗竴涓弬鏁颁娇鐢‵Name鏋勯�犲嚱鏁板垱寤轰簡涓�涓悕涓�"VisualTime"鐨勫弬鏁板悕
+// 绗簩涓弬鏁癡isualGameTime搴旇鏄璁剧疆缁�"VisualTime"杩欎釜鍙傛暟鐨勫叿浣撴暟鍊硷紙鍏蜂綋绫诲瀷闇�鐪媀isualGameTime鐨勫畾涔夛級
+// 鏁翠綋浣滅敤澶ф鐜囨槸鍦ㄧ▼搴忎腑锛堝彲鑳芥槸娓告垙寮�鍙戠瓑鍦烘櫙娑夊強鏉愯川鐩稿叧鎿嶄綔锛変负鍚嶄负"VisualTime"鐨勬潗璐ㄥ弬鏁拌缃搴旂殑鍊硷紝浠ュ奖鍝嶆潗璐ㄧ殑鏌愮琛ㄧ幇鐗规�с��
+MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTi
     }
   }
 
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin b/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin
index 7e16637485..8f38536f51 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin
@@ -10,7 +10,10 @@
 	"CreatedByURL": "http://carla.org",
 	"DocsURL": "http://carla.readthedocs.io",
 	"MarketplaceURL": "",
-	"SupportURL": "https://github.com/carla-simulator/carla/issues",
+	"SupportURL": "https://github.com/carla-simulator/carla/issues",// "SupportURL"鏄竴涓敭锛坘ey锛夛紝閫氬父鐢ㄤ簬琛ㄧず鏀寔鐩稿叧鐨勯摼鎺ュ湴鍧�銆�
+// 瀵瑰簲鐨勫��"https://github.com/carla-simulator/carla/issues"鏄竴涓叿浣撶殑URL閾炬帴锛�
+// 鎰忓懗鐫�褰撻亣鍒颁笌鐩稿叧椤圭洰锛堟澶勫彲鑳芥槸carla-simulator椤圭洰锛夋湁鍏崇殑闂銆侀渶瑕佹敮鎸佹垨鑰呭弽棣堟儏鍐垫椂锛�
+// 鍙互閫氳繃璁块棶杩欎釜GitHub浠撳簱瀵瑰簲鐨勯棶棰橀〉闈紙issues椤甸潰锛夋潵杩涜鐩稿簲鎿嶄綔锛屾瘮濡傛彁浜ら棶棰樸�佹煡鐪嬪凡鏈夐棶棰樼殑瑙ｅ喅鍔炴硶绛夈��
 	"CanContainContent": true,
 	"IsBetaVersion": false,
 	"IsExperimentalVersion": true,
diff --git a/Util/DockerUtils/fbx/src/FBX2OBJ.cpp b/Util/DockerUtils/fbx/src/FBX2OBJ.cpp
index 9dce01a4ed..b0be4aa018 100644
--- a/Util/DockerUtils/fbx/src/FBX2OBJ.cpp
+++ b/Util/DockerUtils/fbx/src/FBX2OBJ.cpp
@@ -147,7 +147,14 @@ bool SaveScene(
                const char* pFilename,
                int pFileFormat,
                bool pEmbedMedia
-               )
+               )// 鍑芥暟SaveScene鐢ㄤ簬灏嗕竴涓狥bx鍦烘櫙淇濆瓨鍒版枃浠朵腑銆�
+// 鍙傛暟锛�
+// pSdkManager锛氭寚鍚慒bxManager瀵硅薄鐨勬寚閽堬紝FbxManager鏄鐞嗘暣涓狥BX SDK鐨勬牳蹇冨璞★紝閫氬父鐢ㄤ簬澶勭悊涓嶧BX鏂囦欢鐩稿叧鐨勫悇绉嶆搷浣滐紝濡傚垱寤哄満鏅�佸姞杞�/淇濆瓨鏂囦欢绛夈��
+// pScene锛氭寚鍚戣淇濆瓨鐨凢bxScene瀵硅薄鐨勬寚閽堬紝璇ュ璞″寘鍚簡鍦烘櫙涓殑鎵�鏈夋暟鎹紝濡傝妭鐐广�佸嚑浣曚綋銆佸姩鐢荤瓑銆�
+// pFilename锛氫互瀛楃鏁扮粍褰㈠紡琛ㄧず鐨勬枃浠跺悕锛屾寚瀹氫簡瑕佷繚瀛樺満鏅殑鐩爣鏂囦欢璺緞鍜屽悕绉般��
+// pFileFormat锛氭暣鏁扮被鍨嬬殑鍙傛暟锛岀敤浜庢寚瀹氫繚瀛樻枃浠舵椂鎵�浣跨敤鐨勬枃浠舵牸寮忋�備笉鍚岀殑鏁存暟鍊煎彲鑳藉搴斾笉鍚岀殑FBX鏂囦欢鏍煎紡鐗堟湰鎴栧叾浠栨敮鎸佺殑鏍煎紡銆�
+// pEmbedMedia锛氬竷灏旂被鍨嬬殑鍙傛暟锛岀敤浜庢寚绀烘槸鍚﹀皢濯掍綋鏁版嵁锛堝绾圭悊绛夛級宓屽叆鍒颁繚瀛樼殑鏂囦欢涓�傚鏋滀负true锛屽垯濯掍綋鏁版嵁浼氳宓屽叆鍒版枃浠跺唴锛涘鏋滀负false锛屽垯鍙兘浼氬崟鐙瓨鍌ㄥ獟浣撴暟鎹紝鏂囦欢涓粎淇濈暀寮曠敤淇℃伅銆�
+// 杩斿洖鍊硷細鍑芥暟杩斿洖涓�涓竷灏斿�硷紝琛ㄧず鍦烘櫙淇濆瓨鎿嶄綔鏄惁鎴愬姛銆傚鏋滄垚鍔熶繚瀛樺満鏅紝鍒欒繑鍥瀟rue锛涘惁鍒欒繑鍥瀎alse銆�
 {
     bool lStatus = true;
     // 鍒涘缓涓�涓鍑哄櫒