chore: update code documentation and rework the maze example

[reugn]

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[codecov-commenter]

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 99.59%. Comparing base (92faadd) to head (6670277).

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Additional details and impacted files

@@            Coverage Diff             @@
##           master     #167      +/-   ##
==========================================
+ Coverage   99.18%   99.59%   +0.40%     
==========================================
  Files          13       13              
  Lines         739      738       -1     
==========================================
+ Hits          733      735       +2     
+ Misses          6        3       -3     

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