diff --git a/CARLADemo.xosc b/CARLADemo.xosc
deleted file mode 100644
index 8ca01d94b..000000000
--- a/CARLADemo.xosc
+++ /dev/null
@@ -1,776 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSCENARIO>
-    <FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="CARLA:Demo" author="" />
-    <Catalogs>
-        <VehicleCatalog>
-            <Directory path="Catalogs/VehicleCatalogs" />
-        </VehicleCatalog>
-        <DriverCatalog>
-            <Directory path="Catalogs/DriverCatalogs" />
-        </DriverCatalog>
-        <PedestrianCatalog>
-            <Directory path="Catalogs/ObserverCatalogs" />
-        </PedestrianCatalog>
-        <PedestrianControllerCatalog>
-            <Directory path="Catalogs/PedestrianCatalogs" />
-        </PedestrianControllerCatalog>
-        <MiscObjectCatalog>
-            <Directory path="Catalogs/MiscObjectCatalogs" />
-        </MiscObjectCatalog>
-        <EnvironmentCatalog>
-            <Directory path="Catalogs/EnvironmentCatalogs" />
-        </EnvironmentCatalog>
-        <ManeuverCatalog>
-            <Directory path="Catalogs/ManeuverCatalogs" />
-        </ManeuverCatalog>
-        <TrajectoryCatalog>
-            <Directory path="Catalogs/TrajectoryCatalog" />
-        </TrajectoryCatalog>
-        <RouteCatalog>
-            <Directory path="Catalogs/RoutingCatalog" />
-        </RouteCatalog>
-    </Catalogs>
-    <RoadNetwork>
-        <Logics filepath="Town01" />
-        <SceneGraph filepath="" />
-    </RoadNetwork>
-    <Entities>
-        <Object name="hero">
-            <Vehicle name="vehicle.lincoln.mkz2017" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties>
-                    <Property name="type" value="ego_vehicle" />
-                </Properties>
-            </Vehicle>
-        </Object>  
-        <Object name="pedestrian">
-            <Pedestrian name="walker.pedestrian.0001" mass="90.0" model="walker.pedestrian.0001" category="pedestrian">
-                <ParameterDeclaration/>
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties>
-                    <Property name="type" value="simulation" />
-                </Properties>
-            </Pedestrian>
-        </Object>
-        <Object name="approach1">
-            <Vehicle name="vehicle.mini.cooperst" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties />
-            </Vehicle>
-        </Object>
-        <Object name="approach2">
-            <Vehicle name="vehicle.gazelle.omafiets" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties />
-            </Vehicle>
-        </Object>
-        <Object name="approach3">
-            <Vehicle name="vehicle.audi.tt" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties />
-            </Vehicle>
-        </Object>
-        <Object name="police_turn2">
-            <Vehicle name="vehicle.dodge_charger.police" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties />
-            </Vehicle>
-        </Object>
-        <Object name="police_turn4">
-            <Vehicle name="vehicle.dodge_charger.police" category="car">
-                <ParameterDeclaration />
-                <Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Axles>
-                    <Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties />
-            </Vehicle>
-        </Object>
-        <Object name="barrier_end1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_end2">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_end3">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_start1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_start2">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_start3">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn2.1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn3.1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn3.2">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn4.1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn5.1">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-        <Object name="barrier_turn5.2">
-            <MiscObject name="static.prop.streetbarrier" mass="1000" category="barrier">
-                <ParameterDeclaration />
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimension width="2.1" length="4.5" height="1.8" />
-                </BoundingBox>
-                <Properties />
-            </MiscObject>
-        </Object>
-    </Entities>
-    <Storyboard>
-        <Init>
-            <Actions>
-                <Global>
-                    <SetEnvironment>
-                        <Environment name="Environment1">
-                            <TimeOfDay animation="false">
-                                <Time hour="12" min="0" sec="0.0" />
-                                <Date day="25" month="6" year="2019" />
-                            </TimeOfDay>
-                            <Weather cloudState="free">
-                                <Sun intensity="1.01" azimuth="-1" elevation="-1" />
-                                <Fog visualRange="100000.0" />
-                                <Precipitation type="dry" intensity="-1.0" />
-                            </Weather>
-                            <RoadCondition frictionScale="1.0" />
-                        </Environment>
-                    </SetEnvironment>
-                </Global>
-                <Private object="hero">
-                    <Action>
-                        <Position>
-                            <World x="334" y="70" z="0" h="1.570796327" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="pedestrian">
-                    <Action>
-                        <Position>
-                            <World x="250" y="129.5" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="approach1">
-                    <Action>
-                        <Position>
-                            <World x="186" y="133" z="0" h="0" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="approach2">
-                    <Action>
-                        <Position>
-                            <World x="150" y="133" z="0" h="0" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="approach3">
-                    <Action>
-                        <Position>
-                            <World x="115" y="133" z="0" h="0" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_end1">
-                    <Action>
-                        <Position>
-                            <World x="334" y="247" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_end2">
-                    <Action>
-                        <Position>
-                            <World x="340" y="247" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_end3">
-                    <Action>
-                        <Position>
-                            <World x="337" y="247" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_start1">
-                    <Action>
-                        <Position>
-                            <World x="340" y="142" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_start2">
-                    <Action>
-                        <Position>
-                            <World x="337" y="142" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_start3">
-                    <Action>
-                        <Position>
-                            <World x="334" y="142" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn2.1">
-                    <Action>
-                        <Position>
-                            <World x="93" y="124" z="0" h="2.72" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="police_turn2">
-                    <Action>
-                        <Position>
-                            <World x="93" y="121" z="0" h="3.141592654" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn3.1">
-                    <Action>
-                        <Position>
-                            <World x="96" y="198" z="0" h="1.57" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn3.2">
-                    <Action>
-                        <Position>
-                            <World x="96" y="200" z="0" h="1.57" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn4.1">
-                    <Action>
-                        <Position>
-                            <World x="85" y="325" z="0" h="4.19" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="police_turn4">
-                    <Action>
-                        <Position>
-                            <World x="83" y="325" z="0" h="1.57" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn5.1">
-                    <Action>
-                        <Position>
-                            <World x="350" y="329" z="0" h="1.57" />
-                        </Position>
-                    </Action>
-                </Private>
-                <Private object="barrier_turn5.2">
-                    <Action>
-                        <Position>
-                            <World x="350" y="331" z="0" h="1.57" />
-                        </Position>
-                    </Action>
-                </Private>                
-            </Actions>
-        </Init>
-        <Story name="MyStory">
-            <Act name="Behavior">
-                <Sequence name="Set1stTrafficLightGreen" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="hero"/>
-                    </Actors>
-                    <Maneuver name="Set1stTrafficLightGreen">
-                        <Event name="Set1stTrafficLightGreen" priority="overwrite">
-                            <Action name="Set1stTrafficLightGreen">
-                                <Global>
-                                    <Infrastructure>
-                                        <Signal>
-                                            <SetState name="pos=332,119" state="green"/>
-                                        </Signal>
-                                    </Infrastructure>
-                                </Global>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <TraveledDistance value="20.0"/>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>            
-                <Sequence name="Set2ndTrafficLightGreen" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="hero"/>
-                    </Actors>
-                    <Maneuver name="Set2ndTrafficLightGreen">
-                        <Event name="Set2ndTrafficLightGreen" priority="overwrite">
-                            <Action name="Set2ndTrafficLightGreen">
-                                <Global>
-                                    <Infrastructure>
-                                        <Signal>
-                                            <SetState name="pos=102,126" state="green"/>
-                                        </Signal>
-                                    </Infrastructure>
-                                </Global>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <ReachPosition tolerance="7.0">
-                                                    <Position>
-                                                        <World x="120" y="128" z="0" h="1.57" />
-                                                    </Position>
-                                                </ReachPosition>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>   
-                <Sequence name="Set3rdTrafficLightGreen" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="hero"/>
-                    </Actors>
-                    <Maneuver name="Set3rdTrafficLightGreen">
-                        <Event name="Set3rdTrafficLightGreen" priority="overwrite">
-                            <Action name="Set3rdTrafficLightGreen">
-                                <Global>
-                                    <Infrastructure>
-                                        <Signal>
-                                            <SetState name="pos=86,185" state="green"/>
-                                        </Signal>
-                                    </Infrastructure>
-                                </Global>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <ReachPosition tolerance="7.0">
-                                                    <Position>
-                                                        <World x="86" y="165" z="0" h="1.57" />
-                                                    </Position>
-                                                </ReachPosition>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>
-                <Sequence name="Set4thTrafficLightGreen" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="hero"/>
-                    </Actors>
-                    <Maneuver name="Set4thTrafficLightGreen">
-                        <Event name="Set4thTrafficLightGreen" priority="overwrite">
-                            <Action name="Set4thTrafficLightGreen">
-                                <Global>
-                                    <Infrastructure>
-                                        <Signal>
-                                            <SetState name="pos=86,316" state="green"/>
-                                        </Signal>
-                                    </Infrastructure>
-                                </Global>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <ReachPosition tolerance="7.0">
-                                                    <Position>
-                                                        <World x="86" y="296" z="0" h="1.57" />
-                                                    </Position>
-                                                </ReachPosition>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>
-                <Sequence name="Set5thTrafficLightGreen" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="hero"/>
-                    </Actors>
-                    <Maneuver name="Set5thTrafficLightGreen">
-                        <Event name="Set5thTrafficLightGreen" priority="overwrite">
-                            <Action name="Set5thTrafficLightGreen">
-                                <Global>
-                                    <Infrastructure>
-                                        <Signal>
-                                            <SetState name="pos=325,333" state="green"/>
-                                        </Signal>
-                                    </Infrastructure>
-                                </Global>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <ReachPosition tolerance="7.0">
-                                                    <Position>
-                                                        <World x="305" y="333" z="0" h="1.57" />
-                                                    </Position>
-                                                </ReachPosition>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>
-                <Sequence name="ManeuverSequenceLeading1" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="pedestrian"/>
-                    </Actors>
-                    <Maneuver name="Leading1Start">
-                        <Event name="Leading1Start" priority="overwrite">
-                            <Action name="Leading1Start">
-                                <Private>
-                                    <Longitudinal>
-                                        <Speed>
-                                            <Dynamics shape="step" rate="0" distance="1000" />
-                                            <Target>
-                                                <Absolute value="3" />
-                                            </Target>
-                                        </Speed>
-                                    </Longitudinal>
-                                </Private>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <RelativeDistance entity="pedestrian" type="inertial" value="20.0" freespace="false" rule="less_than" />
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                        <Event name="Leading1TurnRight" priority="overwrite">
-                            <Action name="Leading1TurnRight">
-                                <Private>
-                                    <Routing>
-                                        <FollowRoute>
-                                            <Route name="TurnRight" closed="false">
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="106" y="129" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="100" y="129" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="91" y="128" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="89" y="124" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="89" y="119" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="90" y="113" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="92" y="97" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                                <Waypoint strategy="fastest">
-                                                    <Position>
-                                                        <World x="92" y="84" z="0" h="0"/> 
-                                                    </Position>
-                                                </Waypoint>
-                                            </Route>
-                                        </FollowRoute>
-                                    </Routing>
-                                </Private>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="pedestrian" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <TraveledDistance value="70.0"/>
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>
-                <Sequence name="ManeuverSequenceApproach1" numberOfExecutions="1">
-                    <Actors>
-                        <Entity name="approach1"/>
-                        <Entity name="approach2"/>
-                        <Entity name="approach3"/>
-                    </Actors>
-                    <Maneuver name="Approach1Start">
-                        <Event name="Approach1Start" priority="overwrite">
-                            <Action name="Approach1Start">
-                                <Private>
-                                    <Longitudinal>
-                                        <Speed>
-                                            <Dynamics shape="step" rate="0" distance="1000" />
-                                            <Target>
-                                                <Absolute value="4" />
-                                            </Target>
-                                        </Speed>
-                                    </Longitudinal>
-                                </Private>
-                            </Action>
-                            <StartConditions>
-                                <ConditionGroup>
-                                    <Condition name="StartCondition" delay="0" edge="rising">
-                                        <ByEntity>
-                                            <TriggeringEntities rule="any">
-                                                <Entity name="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <RelativeDistance entity="approach1" type="inertial" value="60.0" freespace="false" rule="less_than" />
-                                            </EntityCondition>
-                                        </ByEntity>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartConditions>
-                        </Event>
-                    </Maneuver>
-                </Sequence>
-                <Conditions>
-                    <Start>
-                        <ConditionGroup>
-                            <Condition name="StandStillCondition" delay="0" edge="rising">
-                                <ByEntity>
-                                    <TriggeringEntities rule="any">
-                                        <Entity name="hero" />
-                                    </TriggeringEntities>
-                                    <EntityCondition>
-                                        <StandStill duration="10.0" />
-                                    </EntityCondition>
-                                </ByEntity>
-                            </Condition>
-                            <Condition name="OverallStartCondition" delay="0" edge="rising">
-                                <ByEntity>
-                                    <TriggeringEntities rule="any">
-                                        <Entity name="hero" />
-                                    </TriggeringEntities>
-                                    <EntityCondition>
-                                        <TraveledDistance value="1.0" />
-                                    </EntityCondition>
-                                </ByEntity>
-                            </Condition>
-                            <Condition name="StartTime" delay="0" edge="rising">
-                                <ByValue>
-                                    <SimulationTime value="0" rule="equal_to" />
-                                </ByValue>
-                            </Condition>
-                        </ConditionGroup>
-                    </Start>
-                </Conditions>
-            </Act>
-        </Story>
-        <EndConditions>
-            <ConditionGroup>
-                <Condition name="criteria_DrivenDistanceTest" delay="0" edge="rising">
-                    <ByValue>
-                        <Parameter name="distance_success" value="100" rule="less_than" />
-                    </ByValue>
-                </Condition>
-            </ConditionGroup>
-        </EndConditions>
-    </Storyboard>
-</OpenSCENARIO>
diff --git a/Docs/FAQ.md b/Docs/FAQ.md
index bfb8bf60a..1a4b1cb02 100644
--- a/Docs/FAQ.md
+++ b/Docs/FAQ.md
@@ -19,3 +19,16 @@ No more scenarios .... Exiting
 ```
 and you see nothing happening, it is most likely due to the fact, that you did not launch a program to control
 the ego vehicle. Run for example manual_control.py, and you should now see something happening.
+
+
+## Scenario Runner exits with error when using --debug commandline parameter
+
+In case you receive the following output
+```
+UnicodeEncodeError: 'ascii' codec can't encode character '\u2713' in position 58: ordinal not in range(128)
+```
+Please set environment variable
+```
+PYTHONIOENCODING=utf-8
+```
+