diff --git a/.rosinstall b/.rosinstall
index 52cac97d8..e25ffb7d9 100755
--- a/.rosinstall
+++ b/.rosinstall
@@ -76,3 +76,27 @@
     local-name: ../planners/mpc
     uri: https://github.com/rst-tu-dortmund/mpc_local_planner
     version: master
+- git:
+    local-name: ../planners/all_in_one
+    uri: https://github.com/Arena-Rosnav/all_in_one
+    version: master
+- git:
+    local-name: ../planners/applr
+    uri: https://github.com/Arena-Rosnav/applr
+    version: master
+- git:
+    local-name: ../planners/lflh
+    uri: https://github.com/Arena-Rosnav/lflh
+    version: master
+- git:
+    local-name: ../planners/dragon
+    uri: https://github.com/Arena-Rosnav/dragon
+    version: master
+- git:
+    local-name: ../planners/trail
+    uri: https://github.com/Arena-Rosnav/trail
+    version: master
+- git:
+    local-name: ../planners/cohan
+    uri: https://github.com/Arena-Rosnav/cohan_planner_multi
+    version: master
diff --git a/arena_bringup/launch/testing/move_base/move_base_applr.launch b/arena_bringup/launch/testing/move_base/move_base_applr.launch
index 8b4254214..ff72a05fa 100644
--- a/arena_bringup/launch/testing/move_base/move_base_applr.launch
+++ b/arena_bringup/launch/testing/move_base/move_base_applr.launch
@@ -63,7 +63,7 @@
 
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
-    <param name="controller_frequency" value="5.0" />
+    <param name="controller_frequency" value="20.0" />
     <param name="controller_patience" value="15.0" />
     <param name="planner_frequency" value="5.0" />
     <param name="max_planning_retries" value="5.0" />
diff --git a/arena_bringup/launch/testing/move_base/move_base_dwa.launch b/arena_bringup/launch/testing/move_base/move_base_dwa.launch
index 5afc667aa..be5f9898e 100644
--- a/arena_bringup/launch/testing/move_base/move_base_dwa.launch
+++ b/arena_bringup/launch/testing/move_base/move_base_dwa.launch
@@ -15,7 +15,7 @@
 
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
-    <param name="controller_frequency" value="5.0" />
+    <param name="controller_frequency" value="20.0" />
     <param name="controller_patience" value="15.0" />
     <param name="planner_frequency" value="1.0" />
 
diff --git a/arena_bringup/launch/testing/move_base/move_base_teb.launch b/arena_bringup/launch/testing/move_base/move_base_teb.launch
index 34c1a87bd..38a414bbc 100644
--- a/arena_bringup/launch/testing/move_base/move_base_teb.launch
+++ b/arena_bringup/launch/testing/move_base/move_base_teb.launch
@@ -20,7 +20,6 @@
 
     <!-- teb -->
     <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
-    <param name="TebLocalPlannerROS/max_vel_x" value="$(arg speed)" />
     <!-- <param name="controller_frequency" value="5.0" /> -->
     <!-- <param name="controller_patience" value="15.0" /> -->
     <!-- <param name="planner_frequency" value="1.0" /> -->
diff --git a/arena_bringup/launch/testing/simulators/gazebo.launch b/arena_bringup/launch/testing/simulators/gazebo.launch
index c9aa280cd..f3c50dae1 100644
--- a/arena_bringup/launch/testing/simulators/gazebo.launch
+++ b/arena_bringup/launch/testing/simulators/gazebo.launch
@@ -13,9 +13,9 @@
 
   <arg name="visualization" default="" />
 
-  <!-- <node name="generate_world" pkg="gazebo_utils" type="generate_world.py">
+  <node name="generate_world" pkg="gazebo_utils" type="generate_world.py">
     <param name="world" value="$(arg world)"/>
-  </node> -->
+  </node>
 
   <!-- start World (Scenario) file in Gazebo -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -32,6 +32,5 @@
     <arg name="show_rviz" value="$(arg show_rviz)" />
   </include>
 
-  <node pkg="pedsim_gazebo_plugin" type="spawn_pedsim_agents.py" name="spawn_pedsim_agents" output="screen" />
 
 </launch>
diff --git a/poetry.lock b/poetry.lock
index f53563d1e..1f440e87b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,11 @@
+[[package]]
+name = "absl-py"
+version = "1.4.0"
+description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "appdirs"
 version = "1.4.4"
@@ -6,6 +14,14 @@ category = "main"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "cachetools"
+version = "5.3.0"
+description = "Extensible memoizing collections and decorators"
+category = "main"
+optional = false
+python-versions = "~=3.7"
+
 [[package]]
 name = "catkin-pkg"
 version = "0.5.2"
@@ -18,9 +34,10 @@ python-versions = "*"
 docutils = "*"
 pyparsing = "*"
 python-dateutil = "*"
+setuptools = "*"
 
 [package.extras]
-test = ["flake8", "flake8-blind-except", "flake8-builtins", "flake8-class-newline", "flake8-comprehensions", "flake8-deprecated", "flake8-docstrings", "flake8-import-order", "flake8-quotes", "pytest", "mock"]
+test = ["flake8", "flake8-blind-except", "flake8-builtins", "flake8-class-newline", "flake8-comprehensions", "flake8-deprecated", "flake8-docstrings", "flake8-import-order", "flake8-quotes", "mock", "pytest"]
 
 [[package]]
 name = "certifi"
@@ -49,6 +66,14 @@ python-versions = ">=3.7"
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
+[[package]]
+name = "cloudpickle"
+version = "2.2.1"
+description = "Extended pickling support for Python objects"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "colorama"
 version = "0.4.6"
@@ -71,10 +96,58 @@ numpy = ">=1.16"
 [package.extras]
 bokeh = ["bokeh", "chromedriver", "selenium"]
 docs = ["furo", "sphinx-copybutton"]
-mypy = ["contourpy", "docutils-stubs", "mypy (==0.991)", "types-pillow"]
-test = ["matplotlib", "pillow", "pytest"]
+mypy = ["contourpy[bokeh]", "docutils-stubs", "mypy (==0.991)", "types-Pillow"]
+test = ["Pillow", "matplotlib", "pytest"]
 test-no-images = ["pytest"]
 
+[[package]]
+name = "cvxpy"
+version = "1.3.0"
+description = "A domain-specific language for modeling convex optimization problems in Python."
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+ecos = ">=2"
+numpy = ">=1.15"
+osqp = ">=0.4.1"
+scipy = ">=1.1.0"
+scs = ">=1.1.6"
+setuptools = "<=64.0.2"
+
+[package.extras]
+cbc = ["cylp (>=0.91.5)"]
+clarabel = ["clarabel"]
+cvxopt = ["cvxopt"]
+diffcp = ["diffcp"]
+glop = ["ortools (>=9.3,<9.5)"]
+glpk = ["cvxopt"]
+glpk-mi = ["cvxopt"]
+gurobi = ["gurobipy"]
+highs = ["scipy (>=1.6.1)"]
+mosek = ["Mosek"]
+pdlp = ["ortools (>=9.3,<9.5)"]
+proxqp = ["proxsuite"]
+scip = ["PySCIPOpt"]
+scipy = ["scipy"]
+scs = ["setuptools (<64.0.2)"]
+xpress = ["xpress"]
+
+[[package]]
+name = "cvxpylayers"
+version = "0.1.5"
+description = "Differentiable convex optimization layers"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+cvxpy = ">=1.1.0a4"
+diffcp = ">=1.0.13"
+numpy = ">=1.15"
+scipy = ">=1.1.0"
+
 [[package]]
 name = "cycler"
 version = "0.11.0"
@@ -91,6 +164,22 @@ category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
+[[package]]
+name = "diffcp"
+version = "1.0.21"
+description = ""
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+ecos = ">=2.0.10"
+numpy = ">=1.15"
+pybind11 = ">=2.4"
+scipy = ">=1.1.0"
+scs = ">=2.0.2"
+threadpoolctl = ">=1.1"
+
 [[package]]
 name = "distro"
 version = "1.7.0"
@@ -118,6 +207,18 @@ category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
+[[package]]
+name = "ecos"
+version = "2.0.12"
+description = "This is the Python package for ECOS: Embedded Cone Solver. See Github page for more information."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.6"
+scipy = ">=0.9"
+
 [[package]]
 name = "empy"
 version = "3.3.4"
@@ -147,9 +248,9 @@ optional = false
 python-versions = ">=3.7"
 
 [package.extras]
-all = ["fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "zopfli (>=0.1.4)", "lz4 (>=1.7.4.2)", "matplotlib", "sympy", "skia-pathops (>=0.5.0)", "uharfbuzz (>=0.23.0)", "brotlicffi (>=0.8.0)", "scipy", "brotli (>=1.0.1)", "munkres", "unicodedata2 (>=14.0.0)", "xattr"]
+all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
 graphite = ["lz4 (>=1.7.4.2)"]
-interpolatable = ["scipy", "munkres"]
+interpolatable = ["munkres", "scipy"]
 lxml = ["lxml (>=4.0,<5)"]
 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
@@ -158,7 +259,7 @@ symfont = ["sympy"]
 type1 = ["xattr"]
 ufo = ["fs (>=2.2.0,<3)"]
 unicode = ["unicodedata2 (>=14.0.0)"]
-woff = ["zopfli (>=0.1.4)", "brotlicffi (>=0.8.0)", "brotli (>=1.0.1)"]
+woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
 name = "gitdb"
@@ -182,6 +283,95 @@ python-versions = ">=3.7"
 [package.dependencies]
 gitdb = ">=4.0.1,<5"
 
+[[package]]
+name = "google-auth"
+version = "2.16.0"
+description = "Google Authentication Library"
+category = "main"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*"
+
+[package.dependencies]
+cachetools = ">=2.0.0,<6.0"
+pyasn1-modules = ">=0.2.1"
+rsa = {version = ">=3.1.4,<5", markers = "python_version >= \"3.6\""}
+six = ">=1.9.0"
+
+[package.extras]
+aiohttp = ["aiohttp (>=3.6.2,<4.0.0dev)", "requests (>=2.20.0,<3.0.0dev)"]
+enterprise-cert = ["cryptography (==36.0.2)", "pyopenssl (==22.0.0)"]
+pyopenssl = ["cryptography (>=38.0.3)", "pyopenssl (>=20.0.0)"]
+reauth = ["pyu2f (>=0.1.5)"]
+requests = ["requests (>=2.20.0,<3.0.0dev)"]
+
+[[package]]
+name = "google-auth-oauthlib"
+version = "0.4.6"
+description = "Google Authentication Library"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+google-auth = ">=1.0.0"
+requests-oauthlib = ">=0.7.0"
+
+[package.extras]
+tool = ["click (>=6.0.0)"]
+
+[[package]]
+name = "gputil"
+version = "1.4.0"
+description = "GPUtil is a Python module for getting the GPU status from NVIDA GPUs using nvidia-smi."
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "grpcio"
+version = "1.51.1"
+description = "HTTP/2-based RPC framework"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+protobuf = ["grpcio-tools (>=1.51.1)"]
+
+[[package]]
+name = "gym"
+version = "0.26.2"
+description = "Gym: A universal API for reinforcement learning environments"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+cloudpickle = ">=1.2.0"
+gym_notices = ">=0.0.4"
+importlib_metadata = {version = ">=4.8.0", markers = "python_version < \"3.10\""}
+numpy = ">=1.18.0"
+
+[package.extras]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
+all = ["ale-py (>=0.8.0,<0.9.0)", "box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (>=4.0.0,<5.0.0)"]
+atari = ["ale-py (>=0.8.0,<0.9.0)"]
+box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (>=4.0.0,<5.0.0)"]
+classic-control = ["pygame (==2.1.0)"]
+mujoco = ["imageio (>=2.14.1)", "mujoco (==2.2)"]
+mujoco-py = ["mujoco_py (>=2.1,<2.2)"]
+other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
+testing = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (>=4.0.0,<5.0.0)"]
+toy-text = ["pygame (==2.1.0)"]
+
+[[package]]
+name = "gym-notices"
+version = "0.0.8"
+description = "Notices for gym"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "idna"
 version = "3.4"
@@ -190,6 +380,22 @@ category = "main"
 optional = false
 python-versions = ">=3.5"
 
+[[package]]
+name = "importlib-metadata"
+version = "6.0.0"
+description = "Read metadata from Python packages"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+zipp = ">=0.5"
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+perf = ["ipython"]
+testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]
+
 [[package]]
 name = "importlib-resources"
 version = "5.10.2"
@@ -202,8 +408,8 @@ python-versions = ">=3.7"
 zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
-docs = ["sphinx (>=3.5)", "jaraco.packaging (>=9)", "rst.linker (>=1.9)", "furo", "sphinx-lint", "jaraco.tidelift (>=1.4)"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "flake8 (<5)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)", "pytest-flake8"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
 
 [[package]]
 name = "kiwisolver"
@@ -224,9 +430,31 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
 [package.extras]
 cssselect = ["cssselect (>=0.7)"]
 html5 = ["html5lib"]
-htmlsoup = ["beautifulsoup4"]
+htmlsoup = ["BeautifulSoup4"]
 source = ["Cython (>=0.29.7)"]
 
+[[package]]
+name = "markdown"
+version = "3.4.1"
+description = "Python implementation of Markdown."
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""}
+
+[package.extras]
+testing = ["coverage", "pyyaml"]
+
+[[package]]
+name = "markupsafe"
+version = "2.1.2"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "matplotlib"
 version = "3.7.0"
@@ -248,6 +476,14 @@ pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 setuptools_scm = ">=7"
 
+[[package]]
+name = "mpi4py"
+version = "3.1.4"
+description = "Python bindings for MPI"
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
 [[package]]
 name = "netifaces"
 version = "0.11.0"
@@ -264,6 +500,32 @@ category = "main"
 optional = false
 python-versions = ">=3.8"
 
+[[package]]
+name = "oauthlib"
+version = "3.2.2"
+description = "A generic, spec-compliant, thorough implementation of the OAuth request-signing logic"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+rsa = ["cryptography (>=3.0.0)"]
+signals = ["blinker (>=1.4.0)"]
+signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
+
+[[package]]
+name = "osqp"
+version = "0.6.2.post8"
+description = "OSQP: The Operator Splitting QP Solver"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.7"
+qdldl = "*"
+scipy = ">=0.13.2"
+
 [[package]]
 name = "packaging"
 version = "23.0"
@@ -313,8 +575,8 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 
 [[package]]
 name = "protobuf"
-version = "4.21.12"
-description = ""
+version = "3.20.3"
+description = "Protocol Buffers"
 category = "main"
 optional = false
 python-versions = ">=3.7"
@@ -328,7 +590,37 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [package.extras]
-test = ["ipaddress", "mock", "enum34", "pywin32", "wmi"]
+test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
+
+[[package]]
+name = "pyasn1"
+version = "0.4.8"
+description = "ASN.1 types and codecs"
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "pyasn1-modules"
+version = "0.2.8"
+description = "A collection of ASN.1-based protocols modules."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+pyasn1 = ">=0.4.6,<0.5.0"
+
+[[package]]
+name = "pybind11"
+version = "2.10.3"
+description = "Seamless operability between C++11 and Python"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+global = ["pybind11-global (==2.10.3)"]
 
 [[package]]
 name = "pyparsing"
@@ -339,7 +631,7 @@ optional = false
 python-versions = ">=3.6.8"
 
 [package.extras]
-diagrams = ["railroad-diagrams", "jinja2"]
+diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pyqt5"
@@ -396,6 +688,18 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "qdldl"
+version = "0.1.5.post3"
+description = "QDLDL, a free LDL factorization routine."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.7"
+scipy = ">=0.13.2"
+
 [[package]]
 name = "requests"
 version = "2.28.2"
@@ -412,7 +716,22 @@ urllib3 = ">=1.21.1,<1.27"
 
 [package.extras]
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
-use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
+use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
+
+[[package]]
+name = "requests-oauthlib"
+version = "1.3.1"
+description = "OAuthlib authentication support for Requests."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[package.dependencies]
+oauthlib = ">=3.0.0"
+requests = ">=2.0.0"
+
+[package.extras]
+rsa = ["oauthlib[signedtoken] (>=3.0.0)"]
 
 [[package]]
 name = "rospkg"
@@ -427,6 +746,17 @@ catkin-pkg = "*"
 distro = {version = ">=1.4.0", markers = "python_version >= \"3.8\""}
 PyYAML = "*"
 
+[[package]]
+name = "rsa"
+version = "4.9"
+description = "Pure-Python RSA implementation"
+category = "main"
+optional = false
+python-versions = ">=3.6,<4"
+
+[package.dependencies]
+pyasn1 = ">=0.1.3"
+
 [[package]]
 name = "scipy"
 version = "1.8.1"
@@ -438,6 +768,18 @@ python-versions = ">=3.8,<3.11"
 [package.dependencies]
 numpy = ">=1.17.3,<1.25.0"
 
+[[package]]
+name = "scs"
+version = "3.2.2"
+description = "scs: splitting conic solver"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.7"
+scipy = ">=0.13.2"
+
 [[package]]
 name = "seaborn"
 version = "0.12.2"
@@ -452,8 +794,8 @@ numpy = ">=1.17,<1.24.0 || >1.24.0"
 pandas = ">=0.25"
 
 [package.extras]
-dev = ["pytest", "pytest-cov", "pytest-xdist", "flake8", "mypy", "pandas-stubs", "pre-commit", "flit"]
-docs = ["numpydoc", "nbconvert", "ipykernel", "sphinx-copybutton", "sphinx-issues", "sphinx-design", "pyyaml", "pydata_sphinx_theme (==0.10.0rc2)"]
+dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest-cov", "pytest-xdist"]
+docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
 stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
 
 [[package]]
@@ -477,14 +819,14 @@ chalice = ["chalice (>=1.16.0)"]
 django = ["django (>=1.8)"]
 falcon = ["falcon (>=1.4)"]
 fastapi = ["fastapi (>=0.79.0)"]
-flask = ["flask (>=0.11)", "blinker (>=1.1)"]
+flask = ["blinker (>=1.1)", "flask (>=0.11)"]
 httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-pure_eval = ["pure-eval", "executing", "asttokens"]
+pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
-quart = ["quart (>=0.16.1)", "blinker (>=1.1)"]
+quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
 rq = ["rq (>=0.6)"]
 sanic = ["sanic (>=0.8)"]
 sqlalchemy = ["sqlalchemy (>=1.2)"]
@@ -503,6 +845,19 @@ python-versions = ">=3.7"
 [package.extras]
 test = ["pytest"]
 
+[[package]]
+name = "setuptools"
+version = "64.0.2"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
 [[package]]
 name = "setuptools-scm"
 version = "7.1.0"
@@ -513,6 +868,7 @@ python-versions = ">=3.7"
 
 [package.dependencies]
 packaging = ">=20.0"
+setuptools = "*"
 tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
 typing-extensions = "*"
 
@@ -536,6 +892,66 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "tensorboard"
+version = "2.12.0"
+description = "TensorBoard lets you watch Tensors Flow"
+category = "main"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+absl-py = ">=0.4"
+google-auth = ">=1.6.3,<3"
+google-auth-oauthlib = ">=0.4.1,<0.5"
+grpcio = ">=1.48.2"
+markdown = ">=2.6.8"
+numpy = ">=1.12.0"
+protobuf = ">=3.19.6"
+requests = ">=2.21.0,<3"
+setuptools = ">=41.0.0"
+tensorboard-data-server = ">=0.7.0,<0.8.0"
+tensorboard-plugin-wit = ">=1.6.0"
+werkzeug = ">=1.0.1"
+wheel = ">=0.26"
+
+[[package]]
+name = "tensorboard-data-server"
+version = "0.7.0"
+description = "Fast data loading for TensorBoard"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "tensorboard-plugin-wit"
+version = "1.8.1"
+description = "What-If Tool TensorBoard plugin."
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "tensorboardx"
+version = "2.6"
+description = "TensorBoardX lets you watch Tensors Flow without Tensorflow"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = "*"
+packaging = "*"
+protobuf = ">=3.8.0,<4"
+
+[[package]]
+name = "threadpoolctl"
+version = "3.1.0"
+description = "threadpoolctl"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "tomli"
 version = "2.0.1"
@@ -555,6 +971,18 @@ python-versions = ">=3.7.0"
 [package.dependencies]
 typing-extensions = "*"
 
+[[package]]
+name = "torchdiffeq"
+version = "0.2.3"
+description = "ODE solvers and adjoint sensitivity analysis in PyTorch."
+category = "main"
+optional = false
+python-versions = "~=3.6"
+
+[package.dependencies]
+scipy = ">=1.4.0"
+torch = ">=1.3.0"
+
 [[package]]
 name = "typing-extensions"
 version = "4.2.0"
@@ -572,8 +1000,8 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
 
 [package.extras]
-brotli = ["brotlicffi (>=0.8.0)", "brotli (>=1.0.9)", "brotlipy (>=0.6.0)"]
-secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "urllib3-secure-extra", "ipaddress"]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
+secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
 socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 
 [[package]]
@@ -593,13 +1021,14 @@ pathtools = "*"
 protobuf = [
     {version = ">=3.12.0,<4.21.0 || >4.21.0,<5", markers = "python_version < \"3.9\" and sys_platform == \"linux\""},
     {version = ">=3.15.0,<4.21.0 || >4.21.0,<5", markers = "python_version == \"3.9\" and sys_platform == \"linux\""},
-    {version = ">=3.19.0,<4.21.0 || >4.21.0,<5", markers = "python_version > \"3.9\" and sys_platform == \"linux\" or sys_platform != \"linux\""},
+    {version = ">=3.19.0,<4.21.0 || >4.21.0,<5", markers = "python_version > \"3.9\" or sys_platform != \"linux\""},
 ]
 psutil = ">=5.0.0"
 PyYAML = "*"
 requests = ">=2.0.0,<3"
 sentry-sdk = ">=1.0.0"
 setproctitle = "*"
+setuptools = "*"
 typing-extensions = {version = "*", markers = "python_version < \"3.10\""}
 
 [package.extras]
@@ -607,12 +1036,37 @@ aws = ["boto3"]
 azure = ["azure-storage-blob"]
 gcp = ["google-cloud-storage"]
 grpc = ["grpcio (>=1.27.2)"]
-kubeflow = ["kubernetes", "minio", "google-cloud-storage", "sh"]
-launch = ["nbconvert", "nbformat", "chardet", "iso8601", "typing-extensions", "boto3", "botocore", "google-cloud-storage", "kubernetes"]
-media = ["numpy", "moviepy", "pillow", "bokeh", "soundfile", "plotly", "rdkit-pypi"]
+kubeflow = ["google-cloud-storage", "kubernetes", "minio", "sh"]
+launch = ["boto3", "botocore", "chardet", "google-cloud-storage", "iso8601", "kubernetes", "nbconvert", "nbformat", "typing-extensions"]
+media = ["bokeh", "moviepy", "numpy", "pillow", "plotly", "rdkit-pypi", "soundfile"]
 models = ["cloudpickle"]
 sweeps = ["sweeps (>=0.2.0)"]
 
+[[package]]
+name = "werkzeug"
+version = "2.2.3"
+description = "The comprehensive WSGI web application library."
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+MarkupSafe = ">=2.1.1"
+
+[package.extras]
+watchdog = ["watchdog"]
+
+[[package]]
+name = "wheel"
+version = "0.38.4"
+description = "A built-package format for Python"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+test = ["pytest (>=3.0.0)"]
+
 [[package]]
 name = "zipp"
 version = "3.13.0"
@@ -622,28 +1076,219 @@ optional = false
 python-versions = ">=3.7"
 
 [package.extras]
-docs = ["sphinx (>=3.5)", "jaraco.packaging (>=9)", "rst.linker (>=1.9)", "furo", "sphinx-lint", "jaraco.tidelift (>=1.4)"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "flake8 (<5)", "pytest-cov", "pytest-enabler (>=1.3)", "jaraco.itertools", "func-timeout", "jaraco.functools", "more-itertools", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)", "pytest-flake8"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
 
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.8,<3.11"
-content-hash = "8425e8a1c20cd7246b17eaff0acc0c1f650dfb7a0071774d0100d49786c6e8e4"
+content-hash = "27245c169dc950f650f412b3d2b069be86632caab7b4288ff23e5bb5139dc3ce"
 
 [metadata.files]
-appdirs = []
+absl-py = [
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+]
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+    {file = "cachetools-5.3.0.tar.gz", hash = "sha256:13dfddc7b8df938c21a940dfa6557ce6e94a2f1cdfa58eb90c805721d58f2c14"},
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 ]
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-charset-normalizer = []
+certifi = [
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 six = [
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 ]
-smmap = []
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+tensorboard-data-server = [
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+]
+tensorboardx = [
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+    {file = "tensorboardX-2.6.tar.gz", hash = "sha256:d4c036964dd2deb075a1909832b276daa383eab3f9db519ad90b99f5aea06b0c"},
+]
+threadpoolctl = [
+    {file = "threadpoolctl-3.1.0-py3-none-any.whl", hash = "sha256:8b99adda265feb6773280df41eece7b2e6561b772d21ffd52e372f999024907b"},
+    {file = "threadpoolctl-3.1.0.tar.gz", hash = "sha256:a335baacfaa4400ae1f0d8e3a58d6674d2f8828e3716bb2802c44955ad391380"},
+]
 tomli = [
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     {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
@@ -847,10 +2267,31 @@ torch = [
     {file = "torch-1.11.0-cp39-none-macosx_10_9_x86_64.whl", hash = "sha256:50fd9bf85c578c871c28f1cb0ace9dfc6024401c7f399b174fb0f370899f4454"},
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 ]
+torchdiffeq = [
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+    {file = "torchdiffeq-0.2.3.tar.gz", hash = "sha256:fe75f434b9090ac0c27702e02bed21472b0f87035be6581f51edc5d4013ea31a"},
+]
 typing-extensions = [
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 ]
-urllib3 = []
-wandb = []
-zipp = []
+urllib3 = [
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+    {file = "urllib3-1.26.14.tar.gz", hash = "sha256:076907bf8fd355cde77728471316625a4d2f7e713c125f51953bb5b3eecf4f72"},
+]
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+werkzeug = [
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+    {file = "Werkzeug-2.2.3.tar.gz", hash = "sha256:2e1ccc9417d4da358b9de6f174e3ac094391ea1d4fbef2d667865d819dfd0afe"},
+]
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+    {file = "wheel-0.38.4.tar.gz", hash = "sha256:965f5259b566725405b05e7cf774052044b1ed30119b5d586b2703aafe8719ac"},
+]
+zipp = [
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+    {file = "zipp-3.13.0.tar.gz", hash = "sha256:23f70e964bc11a34cef175bc90ba2914e1e4545ea1e3e2f67c079671883f9cb6"},
+]
diff --git a/pyproject.toml b/pyproject.toml
index f86f11957..15630d6f7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -18,6 +18,15 @@ lxml = "^4.9.1"
 wandb = "^0.13.9"
 seaborn = "^0.12.2"
 netifaces = "^0.11.0"
+torchdiffeq = "^0.2.3"
+tensorboard = "^2.12.0"
+diffcp = "^1.0.21"
+cvxpy = "^1.3.0"
+cvxpylayers = "^0.1.5"
+mpi4py = "^3.1.4"
+gputil = "^1.4.0"
+tensorboardx = "^2.6"
+gym = "^0.26.2"
 
 [tool.poetry.dev-dependencies]
 
diff --git a/utils/gazebo_utils/scripts/generate_world.py b/utils/gazebo_utils/scripts/generate_world.py
index 6c19b433c..1251dd124 100644
--- a/utils/gazebo_utils/scripts/generate_world.py
+++ b/utils/gazebo_utils/scripts/generate_world.py
@@ -4,48 +4,19 @@
 import rospy
 from lxml import etree
 from lxml.etree import Element
-from ArenaScenario import *
+from ArenaScenario import PedsimAgent
 from task_generator.constants import TaskMode
 import numpy as np
 import math
-
-START_TIME = 0.0
-# time the actor needs change his orientation to face the next waypoint
-ORIENTATION_TIME = 1.5
-STANDART_ORIENTATION = 0.0
-actor_type = "person"  # [person, box]
-
-debug = False
-rospy.init_node("generate_world")
-rospack = rospkg.RosPack()
-sim_setup_path = rospack.get_path("arena-simulation-setup")
-
-# setting paths
-if not debug:
-    mode = rospy.get_param("task_mode", "random")
-    world_name = rospy.get_param("~world")
-    world_file = (
-        sim_setup_path + "/worlds/" + world_name + "/worlds/" + world_name + ".world"
-    )
-
-else:
-    mode = "scenario"
-    world_file = "/home/elias/catkin_ws/src/arena-rosnav-3D/simulator_setup/worlds/turtlebot3_world/worlds/turtlebot3_world.world"
-
-
-# extract data
-parser = etree.XMLParser(remove_blank_text=True)
-tree_ = etree.parse(world_file, parser)
-world_ = tree_.getroot().getchildren()[0]
-
-# removing old actor elements from .world file, before creating new ones
-for actor in tree_.xpath("//actor"):
-    actor.getparent().remove(actor)
-
+import json
 
 def get_collision_model():
     return '<?xml version="1.0"?><plugin name="actor_collisions_plugin" filename="libActorCollisionsPlugin.so"><scaling collision="LHipJoint_LeftUpLeg_collision" scale="           0.01           0.001           0.001       "/><scaling collision="LeftUpLeg_LeftLeg_collision" scale="           8.0           8.0           1.0       "/><scaling collision="LeftLeg_LeftFoot_collision" scale="           8.0           8.0           1.0       "/><scaling collision="LeftFoot_LeftToeBase_collision" scale="           4.0           4.0           1.5       "/><scaling collision="RHipJoint_RightUpLeg_collision" scale="           0.01           0.001           0.001       "/><scaling collision="RightUpLeg_RightLeg_collision" scale="           8.0           8.0           1.0       "/><scaling collision="RightLeg_RightFoot_collision" scale="           8.0           8.0           1.0       "/><scaling collision="RightFoot_RightToeBase_collision" scale="           4.0           4.0           1.5       "/><scaling collision="LowerBack_Spine_collision" scale="           12.0           20.0           5.0       " pose="0.05 0 0 0 -0.2 0"/><scaling collision="Spine_Spine1_collision" scale="           0.01           0.001           0.001       "/><scaling collision="Neck_Neck1_collision" scale="           0.01           0.001           0.001       "/><scaling collision="Neck1_Head_collision" scale="           5.0           5.0           3.0       "/><scaling collision="LeftShoulder_LeftArm_collision" scale="           0.01           0.001           0.001       "/><scaling collision="LeftArm_LeftForeArm_collision" scale="           5.0           5.0           1.0       "/><scaling collision="LeftForeArm_LeftHand_collision" scale="           5.0           5.0           1.0       "/><scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="           4.0           4.0           3.0       "/><scaling collision="RightShoulder_RightArm_collision" scale="           0.01           0.001           0.001       "/><scaling collision="RightArm_RightForeArm_collision" scale="           5.0           5.0           1.0       "/><scaling collision="RightForeArm_RightHand_collision" scale="           5.0           5.0           1.0       "/><scaling collision="RightFingerBase_RightHandIndex1_collision" scale="           4.0           4.0           3.0       "/></plugin>'
 
+def read_scenario_file(scenario_file_path):
+    with open(scenario_file_path, "r") as file:
+        content = json.load(file)
+        return content
 
 def create_trajectory_element(time, pose):
     """creating the element in the sdf actor-syntax"""
@@ -98,13 +69,23 @@ def create_trajectory_from_two_waypoints(
     return traj_time, yaw_old
 
 
-def add_actor_element_person(j, agent):
-    actor = Element("actor", name="person_" + str(j) + "_" + str(agent))
+def add_actor_element_person(j, agent=None):
+    x = y = 0.0
+    z = -10.0
+    name = str(j)
+    
+    if agent is not None:
+        x = agent.pos[0]
+        y = agent.pos[1]
+        z = 0.0
+        name = str(j) + "_" + agent.name
+    
+    actor = Element("actor", name="person_" + name)
     skin = Element("skin")
 
     # setting start position
     init_pose = etree.fromstring(
-        f"<pose> {ped.pos[0]} {ped.pos[1]} 0.0 0.0 0.0 0.0 </pose>"
+        f"<pose> {x} {y} {z} 0.0 0.0 0.0 </pose>"
     )
     actor.append(init_pose)
 
@@ -158,84 +139,93 @@ def add_actor_element_box(j, agent):
     return actor, script
 
 
-# In the scenario case we use the gazebo-actor concept to move our dynamic obstacles, therefore we need to script the actors trajectories in the .world file
-if mode in ["scenario", "scenario_staged"]:
+if __name__ == "__main__":
+    START_TIME = 0.0
+    # time the actor needs change his orientation to face the next waypoint
+    ORIENTATION_TIME = 1.5
+    STANDART_ORIENTATION = 0.0
+    actor_type = "person"  # [person, box]
+
+    debug = False
+    rospy.init_node("generate_world")
+    rospack = rospkg.RosPack()
+    sim_setup_path = rospack.get_path("arena-simulation-setup")
+
+    # setting paths
+
+    mode = rospy.get_param("task_mode", "random")
+    world_name = rospy.get_param("~world")
+    world_file = (
+        sim_setup_path + "/worlds/" + world_name + "/worlds/" + world_name + ".world"
+    )
+
+    # extract data
+    parser = etree.XMLParser(remove_blank_text=True)
+    tree_ = etree.parse(world_file, parser)
+    world_ = tree_.getroot().getchildren()[0]
+
+    # removing old actor elements from .world file, before creating new ones
+    for actor in tree_.xpath("//actor"):
+        actor.getparent().remove(actor)
+
+    # In the scenario case we use the gazebo-actor concept to move our dynamic obstacles, therefore we need to script the actors trajectories in the .world file
+    if mode in ["scenario", "scenario_staged"]:
+
+        # loading scenario data
 
-    # loading scenario data
-    if not debug:
         scenario_path = rospy.get_param("/task_generator_node/scenario_json_path")
+
+        scenario = read_scenario_file(scenario_path)
+        pedsim_agents = [PedsimAgent.fromDict(
+                a) for a in scenario["obstacles"]["dynamic"]]
+
+        # looping through the data of every individual dynamic obstacle defined in the scenario file
+        for j, ped in enumerate(pedsim_agents):
+            for agent in range(ped.number_of_peds):
+
+                # NOTE: check out 'simulator_setup/worlds/small_warehouse/models/actor/meshes' for further actor models
+                if actor_type == "person":
+                    actor, script = add_actor_element_person(j, agent)
+                if actor_type == "box":
+                    actor, script = add_actor_element_box(j, agent)
+
+                # creating the the trajectory points
+                trajectory = Element("trajectory", id=f"{j}_{agent}", type="animation")
+                waypoint = Element("waypoint")
+                max_vel = ped.vmax
+                traj_time = START_TIME
+                yaw_old = STANDART_ORIENTATION
+                list_of_waypoints = [*ped.waypoints, ped.waypoints[0]]
+
+                # creating orientation & distance waypoint in the actor format
+                for pos_1, pos_2 in zip(list_of_waypoints, list_of_waypoints[1:]):
+                    traj_time, yaw_old = create_trajectory_from_two_waypoints(
+                        pos_1, pos_2, traj_time, max_vel, yaw_old
+                    )
+
+                script.append(trajectory)
+
+                if actor_type == "person":
+                    collision_model = etree.fromstring(get_collision_model())
+                    actor.append(collision_model)
+
+                actor.append(script)
+                world_.append(actor)
+
+    # in the case of for example random-mode the trajectory points of dynamic obstacles are determined randomly in the task_generator node. The position of the actors is determined by pedsim. Therefore we include here the actor model without trajectory points
     else:
-        scenario_path = "/home/elias/catkin_ws/src/arena-rosnav-3D/simulator_setup/scenarios/turtlebot3_world.json"
-    scenario = ArenaScenario()
-    scenario.loadFromFile(scenario_path)
-    num_of_actors = 0
-
-    # looping through the data of every individual dynamic obstacle defined in the scenario file
-    for j, ped in enumerate(scenario.pedsimAgents):
-        for agent in range(ped.number_of_peds):
-
-            # NOTE: check out 'simulator_setup/worlds/small_warehouse/models/actor/meshes' for further actor models
-            if actor_type == "person":
-                actor, script = add_actor_element_person(j, agent)
-            if actor_type == "box":
-                actor, script = add_actor_element_box(j, agent)
-
-            # creating the the trajectory points
-            trajectory = Element("trajectory", id=f"{j}_{agent}", type="animation")
-            waypoint = Element("waypoint")
-            max_vel = ped.vmax
-            traj_time = START_TIME
-            yaw_old = STANDART_ORIENTATION
-            list_of_waypoints = [*ped.waypoints, ped.waypoints[0]]
-
-            # creating orientation & distance waypoint in the actor format
-            for pos_1, pos_2 in zip(list_of_waypoints, list_of_waypoints[1:]):
-                traj_time, yaw_old = create_trajectory_from_two_waypoints(
-                    pos_1, pos_2, traj_time, max_vel, yaw_old
-                )
-
-            script.append(trajectory)
-
-            if actor_type == "person":
-                collision_model = etree.fromstring(get_collision_model())
-                actor.append(collision_model)
-
-            actor.append(script)
+        num_of_actors = TaskMode.Random.MAX_DYNAMIC_OBS
+
+        for item in range(num_of_actors):
+            actor, _ = add_actor_element_person(item)
+            plugin = Element("plugin", name="None", filename="libActorPosePlugin.so")
+            actor.append(plugin)
+
+            collision_model = etree.fromstring(get_collision_model())
+
+            actor.append(collision_model)
+
             world_.append(actor)
 
-# in the case of for example random-mode the trajectory points of dynamic obstacles are determined randomly in the task_generator node. The position of the actors is determined by pedsim. Therefore we include here the actor model without trajectory points
-else:
-    num_of_actors = TaskMode.Random.MAX_DYNAMIC_OBS
-
-    for item in range(num_of_actors):
-        actor = Element("actor", name="person_" + str(item + 1))
-        s_pos = etree.fromstring("<pose> -0.46 20.8 -10.0 0.0 0.0 1.18 </pose>")
-        actor.append(s_pos)
-        skin = Element("skin")
-        skin_fn = Element("filename")
-        skin_fn.text = "moonwalk.dae"
-        skin_scale = Element("scale")
-        skin_scale.text = "1"
-        skin.append(skin_fn)
-        actor.append(skin)
-        animation = Element("animation", name="animation")
-        animate_fn = Element("filename")
-        animate_fn.text = "walk.dae"
-        interpolate_x = Element("interpolate_x")
-        interpolate_x.text = "true"
-        animate_scale = Element("scale")
-        animate_scale.text = "1"
-        animation.append(animate_fn)
-        animation.append(interpolate_x)
-        actor.append(animation)
-        plugin = Element("plugin", name="None", filename="libActorPosePlugin.so")
-        actor.append(plugin)
-
-        collision_model = etree.fromstring(get_collision_model())
-
-        actor.append(collision_model)
-
-        world_.append(actor)
-
-
-tree_.write(world_file, pretty_print=True, xml_declaration=True, encoding="utf-8")
+
+    tree_.write(world_file, pretty_print=True, xml_declaration=True, encoding="utf-8")