diff --git a/Dockerfile b/Dockerfile
index b3475faa..3cad84da 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -69,6 +69,9 @@ COPY . /root/src/arena-rosnav
 RUN echo -e "source /opt/ros/noetic/setup.sh" >> /root/.bashrc
 RUN echo -e "source /root/devel/setup.sh" >> /root/.bashrc
 
+RUN pip install scipy PyQt5 empy defusedxml 
+RUN pip install wandb
+
 WORKDIR /root/src/arena-rosnav
 RUN rosws update
 
@@ -77,4 +80,7 @@ RUN source /root/.bashrc \
     && source /opt/ros/noetic/setup.sh \
     && catkin_make
 
-# roslaunch arena_bringup start_arena.launch visualization:=none >> output.txt
\ No newline at end of file
+WORKDIR /root/src/utils/stable-baselines3
+RUN pip install -e .
+
+WORKDIR /root/
\ No newline at end of file
diff --git a/arena_bringup/launch/start_arena.launch b/arena_bringup/launch/start_arena.launch
index f94f79f6..2619391f 100755
--- a/arena_bringup/launch/start_arena.launch
+++ b/arena_bringup/launch/start_arena.launch
@@ -146,7 +146,7 @@
     <param name="scene_file" value="$(find arena-simulation-setup)/world/$(arg world_file)/scenarios/$(arg world_file).xml" type="string"/>
   </node>
 
-  <!-- <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/> -->
+  <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/>
 
   <!-- launch map generator if training with random map-->
   <!-- <group if="$(eval arg('map_file') == 'random_map')">
diff --git a/arena_bringup/launch/testing/simulators/gazebo.launch b/arena_bringup/launch/testing/simulators/gazebo.launch
index 66501bbf..c9aa280c 100644
--- a/arena_bringup/launch/testing/simulators/gazebo.launch
+++ b/arena_bringup/launch/testing/simulators/gazebo.launch
@@ -32,4 +32,6 @@
     <arg name="show_rviz" value="$(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 98cad4b7..38bc9687 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,11 @@
+[[package]]
+name = "appdirs"
+version = "1.4.4"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "catkin-pkg"
 version = "0.5.2"
@@ -14,6 +22,67 @@ python-dateutil = "*"
 [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"]
 
+[[package]]
+name = "certifi"
+version = "2022.12.7"
+description = "Python package for providing Mozilla's CA Bundle."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "charset-normalizer"
+version = "3.0.1"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "click"
+version = "8.1.3"
+description = "Composable command line interface toolkit"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+description = "Cross-platform colored terminal text."
+category = "main"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+
+[[package]]
+name = "contourpy"
+version = "1.0.7"
+description = "Python library for calculating contours of 2D quadrilateral grids"
+category = "main"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+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"]
+test-no-images = ["pytest"]
+
+[[package]]
+name = "cycler"
+version = "0.11.0"
+description = "Composable style cycles"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "defusedxml"
 version = "0.7.1"
@@ -30,6 +99,17 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "docker-pycreds"
+version = "0.4.0"
+description = "Python bindings for the docker credentials store API"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+six = ">=1.4.0"
+
 [[package]]
 name = "docutils"
 version = "0.18.1"
@@ -58,6 +138,81 @@ python-versions = ">=3.7"
 docs = ["furo (>=2021.8.17b43)", "sphinx (>=4.1)", "sphinx-autodoc-typehints (>=1.12)"]
 testing = ["covdefaults (>=1.2.0)", "coverage (>=4)", "pytest (>=4)", "pytest-cov", "pytest-timeout (>=1.4.2)"]
 
+[[package]]
+name = "fonttools"
+version = "4.38.0"
+description = "Tools to manipulate font files"
+category = "main"
+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"]
+graphite = ["lz4 (>=1.7.4.2)"]
+interpolatable = ["scipy", "munkres"]
+lxml = ["lxml (>=4.0,<5)"]
+pathops = ["skia-pathops (>=0.5.0)"]
+plot = ["matplotlib"]
+repacker = ["uharfbuzz (>=0.23.0)"]
+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)"]
+
+[[package]]
+name = "gitdb"
+version = "4.0.10"
+description = "Git Object Database"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+smmap = ">=3.0.1,<6"
+
+[[package]]
+name = "gitpython"
+version = "3.1.30"
+description = "GitPython is a python library used to interact with Git repositories"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+gitdb = ">=4.0.1,<5"
+
+[[package]]
+name = "idna"
+version = "3.4"
+description = "Internationalized Domain Names in Applications (IDNA)"
+category = "main"
+optional = false
+python-versions = ">=3.5"
+
+[[package]]
+name = "importlib-resources"
+version = "5.10.2"
+description = "Read resources from Python packages"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+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"]
+
+[[package]]
+name = "kiwisolver"
+version = "1.4.4"
+description = "A fast implementation of the Cassowary constraint solver"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "lxml"
 version = "4.9.1"
@@ -72,6 +227,27 @@ html5 = ["html5lib"]
 htmlsoup = ["beautifulsoup4"]
 source = ["Cython (>=0.29.7)"]
 
+[[package]]
+name = "matplotlib"
+version = "3.7.0"
+description = "Python plotting package"
+category = "main"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+contourpy = ">=1.0.1"
+cycler = ">=0.10"
+fonttools = ">=4.22.0"
+importlib-resources = {version = ">=3.2.0", markers = "python_version < \"3.10\""}
+kiwisolver = ">=1.0.1"
+numpy = ">=1.20"
+packaging = ">=20.0"
+pillow = ">=6.2.0"
+pyparsing = ">=2.3.1"
+python-dateutil = ">=2.7"
+setuptools_scm = ">=7"
+
 [[package]]
 name = "numpy"
 version = "1.22.4"
@@ -80,6 +256,72 @@ category = "main"
 optional = false
 python-versions = ">=3.8"
 
+[[package]]
+name = "packaging"
+version = "23.0"
+description = "Core utilities for Python packages"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "pandas"
+version = "1.5.3"
+description = "Powerful data structures for data analysis, time series, and statistics"
+category = "main"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+numpy = [
+    {version = ">=1.20.3", markers = "python_version < \"3.10\""},
+    {version = ">=1.21.0", markers = "python_version >= \"3.10\""},
+]
+python-dateutil = ">=2.8.1"
+pytz = ">=2020.1"
+
+[package.extras]
+test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
+
+[[package]]
+name = "pathtools"
+version = "0.1.2"
+description = "File system general utilities"
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "pillow"
+version = "9.4.0"
+description = "Python Imaging Library (Fork)"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "protobuf"
+version = "4.21.12"
+description = ""
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "psutil"
+version = "5.9.4"
+description = "Cross-platform lib for process and system monitoring in Python."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[package.extras]
+test = ["ipaddress", "mock", "enum34", "pywin32", "wmi"]
+
 [[package]]
 name = "pyparsing"
 version = "3.0.9"
@@ -130,6 +372,14 @@ python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "pytz"
+version = "2022.7.1"
+description = "World timezone definitions, modern and historical"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "pyyaml"
 version = "6.0"
@@ -138,6 +388,24 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "requests"
+version = "2.28.2"
+description = "Python HTTP for Humans."
+category = "main"
+optional = false
+python-versions = ">=3.7, <4"
+
+[package.dependencies]
+certifi = ">=2017.4.17"
+charset-normalizer = ">=2,<4"
+idna = ">=2.5,<4"
+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)"]
+
 [[package]]
 name = "rospkg"
 version = "1.4.0"
@@ -162,6 +430,88 @@ python-versions = ">=3.8,<3.11"
 [package.dependencies]
 numpy = ">=1.17.3,<1.25.0"
 
+[[package]]
+name = "seaborn"
+version = "0.12.2"
+description = "Statistical data visualization"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+matplotlib = ">=3.1,<3.6.1 || >3.6.1"
+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)"]
+stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
+
+[[package]]
+name = "sentry-sdk"
+version = "1.15.0"
+description = "Python client for Sentry (https://sentry.io)"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+certifi = "*"
+urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
+
+[package.extras]
+aiohttp = ["aiohttp (>=3.5)"]
+beam = ["apache-beam (>=2.12)"]
+bottle = ["bottle (>=0.12.13)"]
+celery = ["celery (>=3)"]
+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)"]
+httpx = ["httpx (>=0.16.0)"]
+huey = ["huey (>=2)"]
+opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
+pure_eval = ["pure-eval", "executing", "asttokens"]
+pymongo = ["pymongo (>=3.1)"]
+pyspark = ["pyspark (>=2.4.4)"]
+quart = ["quart (>=0.16.1)", "blinker (>=1.1)"]
+rq = ["rq (>=0.6)"]
+sanic = ["sanic (>=0.8)"]
+sqlalchemy = ["sqlalchemy (>=1.2)"]
+starlette = ["starlette (>=0.19.1)"]
+starlite = ["starlite (>=1.48)"]
+tornado = ["tornado (>=5)"]
+
+[[package]]
+name = "setproctitle"
+version = "1.3.2"
+description = "A Python module to customize the process title"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+test = ["pytest"]
+
+[[package]]
+name = "setuptools-scm"
+version = "7.1.0"
+description = "the blessed package to manage your versions by scm tags"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+packaging = ">=20.0"
+tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
+typing-extensions = "*"
+
+[package.extras]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]
+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -170,6 +520,22 @@ category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
 
+[[package]]
+name = "smmap"
+version = "5.0.0"
+description = "A pure Python implementation of a sliding window memory map manager"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "torch"
 version = "1.11.0"
@@ -189,16 +555,91 @@ category = "main"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "urllib3"
+version = "1.26.14"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "main"
+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"]
+socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
+
+[[package]]
+name = "wandb"
+version = "0.13.10"
+description = "A CLI and library for interacting with the Weights and Biases API."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+appdirs = ">=1.4.3"
+Click = ">=7.0,<8.0.0 || >8.0.0"
+docker-pycreds = ">=0.4.0"
+GitPython = ">=1.0.0"
+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\""},
+]
+psutil = ">=5.0.0"
+PyYAML = "*"
+requests = ">=2.0.0,<3"
+sentry-sdk = ">=1.0.0"
+setproctitle = "*"
+typing-extensions = {version = "*", markers = "python_version < \"3.10\""}
+
+[package.extras]
+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"]
+models = ["cloudpickle"]
+sweeps = ["sweeps (>=0.2.0)"]
+
+[[package]]
+name = "zipp"
+version = "3.13.0"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+category = "main"
+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"]
+
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.8,<3.11"
-content-hash = "52c3ce5b0e6e041ef6bd340cbbd40b8c8cac418fe81afecf2d56de9a82fb8306"
+content-hash = "911e40b833f6a8932d5696f194654aa87bdc02d6bedd73960f4efb2dbc1445f0"
 
 [metadata.files]
+appdirs = []
 catkin-pkg = [
     {file = "catkin_pkg-0.5.2-py3-none-any.whl", hash = "sha256:4f77ff462261b8f90e170c979ac8b3199e9566fab90667c1736bd9a0ec8e3459"},
     {file = "catkin_pkg-0.5.2.tar.gz", hash = "sha256:5d643eeafbce4890fcceaf9db197eadf2ca5a187d25593f65b6e5c57935f5da2"},
 ]
+certifi = []
+charset-normalizer = []
+click = [
+    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
+    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
+]
+colorama = []
+contourpy = []
+cycler = [
+    {file = "cycler-0.11.0-py3-none-any.whl", hash = "sha256:3a27e95f763a428a739d2add979fa7494c912a32c17c4c38c4d5f082cad165a3"},
+    {file = "cycler-0.11.0.tar.gz", hash = "sha256:9c87405839a19696e837b3b818fed3f5f69f16f1eec1a1ad77e043dcea9c772f"},
+]
 defusedxml = [
     {file = "defusedxml-0.7.1-py2.py3-none-any.whl", hash = "sha256:a352e7e428770286cc899e2542b6cdaedb2b4953ff269a210103ec58f6198a61"},
     {file = "defusedxml-0.7.1.tar.gz", hash = "sha256:1bb3032db185915b62d7c6209c5a8792be6a32ab2fedacc84e01b52c51aa3e69"},
@@ -207,6 +648,7 @@ distro = [
     {file = "distro-1.7.0-py3-none-any.whl", hash = "sha256:d596311d707e692c2160c37807f83e3820c5d539d5a83e87cfb6babd8ba3a06b"},
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     {file = "PyQt5_sip-12.11.0-cp39-cp39-win_amd64.whl", hash = "sha256:42320e7a94b1085ed85d49794ed4ccfe86f1cae80b44a894db908a8aba2bc60e"},
@@ -354,6 +738,7 @@ python-dateutil = [
     {file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
     {file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
 ]
+pytz = []
 pyyaml = [
     {file = "PyYAML-6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d4db7c7aef085872ef65a8fd7d6d09a14ae91f691dec3e87ee5ee0539d516f53"},
     {file = "PyYAML-6.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9df7ed3b3d2e0ecfe09e14741b857df43adb5a3ddadc919a2d94fbdf78fea53c"},
@@ -389,6 +774,7 @@ pyyaml = [
     {file = "PyYAML-6.0-cp39-cp39-win_amd64.whl", hash = "sha256:b3d267842bf12586ba6c734f89d1f5b871df0273157918b0ccefa29deb05c21c"},
     {file = "PyYAML-6.0.tar.gz", hash = "sha256:68fb519c14306fec9720a2a5b45bc9f0c8d1b9c72adf45c37baedfcd949c35a2"},
 ]
+requests = []
 rospkg = [
     {file = "rospkg-1.4.0-py3-none-any.whl", hash = "sha256:582388a583df05cbe6252a69d02d0fbc313f4ce65ee2dc96582baa96b0811f61"},
     {file = "rospkg-1.4.0.tar.gz", hash = "sha256:ef2245600a5345ac8c9dad52fa6a4fbc6bccfca41111eaf9d1b399a9055c00d4"},
@@ -418,10 +804,19 @@ scipy = [
     {file = "scipy-1.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:9dd4012ac599a1e7eb63c114d1eee1bcfc6dc75a29b589ff0ad0bb3d9412034f"},
     {file = "scipy-1.8.1.tar.gz", hash = "sha256:9e3fb1b0e896f14a85aa9a28d5f755daaeeb54c897b746df7a55ccb02b340f33"},
 ]
+seaborn = []
+sentry-sdk = []
+setproctitle = []
+setuptools-scm = []
 six = [
     {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
     {file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
 ]
+smmap = []
+tomli = [
+    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
+    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+]
 torch = [
     {file = "torch-1.11.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:62052b50fffc29ca7afc0c04ef8206b6f1ca9d10629cb543077e12967e8d0398"},
     {file = "torch-1.11.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:866bfba29ac98dec35d893d8e17eaec149d0ac7a53be7baae5c98069897db667"},
@@ -447,3 +842,6 @@ typing-extensions = [
     {file = "typing_extensions-4.2.0-py3-none-any.whl", hash = "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708"},
     {file = "typing_extensions-4.2.0.tar.gz", hash = "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"},
 ]
+urllib3 = []
+wandb = []
+zipp = []
diff --git a/pyproject.toml b/pyproject.toml
index a06fffca..0f8b3f10 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -16,6 +16,7 @@ empy = "^3.3.4"
 defusedxml = "^0.7.1"
 lxml = "^4.9.1"
 wandb = "^0.13.9"
+seaborn = "^0.12.2"
 
 [tool.poetry.dev-dependencies]
 
diff --git a/rl_utils/rl_utils/envs/flatland_gym_env.py b/rl_utils/rl_utils/envs/flatland_gym_env.py
index e7f1cab7..70622cc1 100644
--- a/rl_utils/rl_utils/envs/flatland_gym_env.py
+++ b/rl_utils/rl_utils/envs/flatland_gym_env.py
@@ -125,7 +125,6 @@ def __init__(
         self.task = get_predefined_task(
             self.ns,
             mode=task_mode,
-            environment=None,
             start_stage=kwargs["curr_stage"],
             paths=PATHS,
         )
diff --git a/task_generator/scripts/task_generator_node.py b/task_generator/scripts/task_generator_node.py
index db6d88ce..b5e3a626 100644
--- a/task_generator/scripts/task_generator_node.py
+++ b/task_generator/scripts/task_generator_node.py
@@ -1,13 +1,8 @@
 #! /usr/bin/env python3
 
-import math
 import rospy
-import time
-from nav_msgs.msg import Odometry
-from std_msgs.msg import Int16, Bool
+from std_msgs.msg import Int16, Empty as EmptyMsg
 from std_srvs.srv import Empty, EmptyRequest, EmptyResponse
-from geometry_msgs.msg import PoseStamped
-
 
 from task_generator.utils import Utils
 from task_generator.constants import Constants, TaskMode
@@ -31,7 +26,7 @@ def __init__(self) -> None:
 
         ## Publishers
         self.pub_scenario_reset = rospy.Publisher("scenario_reset", Int16, queue_size=1)
-        self.pub_scenario_finished = rospy.Publisher('scenario_finished', Bool, queue_size=10)
+        self.pub_scenario_finished = rospy.Publisher('scenario_finished', EmptyMsg, queue_size=10)
         
         ## Services
         rospy.Service("reset_task", Empty, self.reset_task_srv_callback)
@@ -56,6 +51,7 @@ def __init__(self) -> None:
         rospy.sleep(2)
 
         try:
+            rospy.set_param("task_generator_setup_finished", True)
             self.srv_setup_finished = rospy.ServiceProxy("task_generator_setup_finished", Empty)
             self.srv_setup_finished(EmptyRequest())
         except:
@@ -111,7 +107,7 @@ def _send_end_message_on_end(self, is_end):
             while self.pub_scenario_finished.get_num_connections() <= 0:
                 pass
 
-            self.pub_scenario_finished.publish(Empty())
+            self.pub_scenario_finished.publish(EmptyMsg())
 
         rospy.signal_shutdown("Finished all episodes of the current scenario")
 
diff --git a/task_generator/task_generator/constants.py b/task_generator/task_generator/constants.py
index 141d1bac..46489418 100644
--- a/task_generator/task_generator/constants.py
+++ b/task_generator/task_generator/constants.py
@@ -63,6 +63,7 @@ class FlatlandRandomModel:
     ANGLUAR_VEL_MAX = 0.2
 
 class Pedsim:
+    VMAX = 0.3
     START_UP_MODE = "default"
     WAIT_TIME = 0.0
     TRIGGER_ZONE_RADIUS = 0.0
diff --git a/task_generator/task_generator/manager/map_manager.py b/task_generator/task_generator/manager/map_manager.py
index 727562b6..f76718a1 100644
--- a/task_generator/task_generator/manager/map_manager.py
+++ b/task_generator/task_generator/manager/map_manager.py
@@ -22,7 +22,7 @@ def update_map(self, map: GetDistanceMap):
         )
         self.origin = map.info.origin.position
 
-    def get_random_pos_on_map(self, safe_dist, forbidden_zones=None):
+    def get_random_pos_on_map(self, safe_dist, forbidden_zones=[]):
         """
         This function is used by the robot manager and
         obstacles manager to get new positions for both
diff --git a/task_generator/task_generator/simulators/gazebo_simulator.py b/task_generator/task_generator/simulators/gazebo_simulator.py
index 3d792d58..14f7e1d0 100644
--- a/task_generator/task_generator/simulators/gazebo_simulator.py
+++ b/task_generator/task_generator/simulators/gazebo_simulator.py
@@ -1,6 +1,7 @@
 import rospy
 import os
 import rospkg
+import random
 import subprocess
 from gazebo_msgs.msg import ModelState
 from gazebo_msgs.srv import SetModelState, SpawnModel, SpawnModelRequest
@@ -14,7 +15,7 @@
 from task_generator.simulators.simulator_factory import SimulatorFactory
 from tf.transformations import quaternion_from_euler
 
-from ..constants import Constants
+from ..constants import Constants, Pedsim
 from .base_simulator import BaseSimulator
 from .simulator_factory import SimulatorFactory
 
@@ -33,8 +34,8 @@ def __init__(self, namespace):
         rospy.wait_for_service("/gazebo/spawn_urdf_model")
         rospy.wait_for_service("/gazebo/set_model_state")
         rospy.wait_for_service("/pedsim_simulator/spawn_peds", timeout=T)
-        # rospy.wait_for_service("/pedsim_simulator/reset_all_peds", timeout=T)
-        # rospy.wait_for_service("/pedsim_simulator/remove_all_peds", timeout=T)
+        rospy.wait_for_service("/pedsim_simulator/reset_all_peds", timeout=T)
+        rospy.wait_for_service("/pedsim_simulator/remove_all_peds", timeout=T)
 
         self._spawn_model_srv = rospy.ServiceProxy(
             self._ns_prefix("gazebo", "spawn_urdf_model"), SpawnModel
@@ -59,15 +60,12 @@ def __init__(self, namespace):
 
     def before_reset_task(self):
         self.pause()
-        pass
 
     def after_reset_task(self):
         self.unpause()
-        pass
 
     def remove_all_obstacles(self):
-        # self._remove_peds_srv(True)
-        pass
+        self._remove_peds_srv(True)
 
     def spawn_pedsim_agents(self, dynamic_obstacles):
         if len(dynamic_obstacles) <= 0:
@@ -79,25 +77,18 @@ def spawn_pedsim_agents(self, dynamic_obstacles):
 
         spawn_ped_msg.peds = peds
 
-        self._spawn_peds_srv(peds)
+        self._spawn_peds_srv(spawn_ped_msg)
 
     def reset_pedsim_agents(self):
-        # self._reset_peds_srv()
-        pass
+        self._reset_peds_srv()
 
     def spawn_obstacle(self, position, yaml_path=""):
         pass
 
     def spawn_random_dynamic_obstacle(self, **args):
-        # s_pos = args["position"]
-        # w_pos = self.map_manager.get_random_pos_on_map(
-        #     safe_dist=1, forbidden_zones=[s_pos]
-        # )
-        # ped = self._create_simple_ped([1], [s_pos], [w_pos])
-        # agents = [PedsimAgent.fromDict(a) for a in ped]
-        # self.spawn_pedsim_agents(agents)
+        peds = [self.create_random_ped(args["position"])]
 
-        pass
+        self._spawn_peds_srv(peds)
 
     def spawn_random_static_obstacle(self, **args):
         pass
@@ -207,6 +198,61 @@ def create_ped_msg(ped, id):
         msg.waypoint_mode = 0
 
         return msg
+
+    def create_random_ped(self, desired_pos):
+        msg = Ped()
+
+        msg.id = random.randint(0, 1000)
+
+        pos = Point()
+        pos.x = desired_pos[0]
+        pos.y = desired_pos[1]
+        msg.pos = pos
+
+        msg.number_of_peds = 1
+        msg.vmax = Pedsim.VMAX
+        msg.start_up_mode = Pedsim.START_UP_MODE
+        msg.wait_time = Pedsim.WAIT_TIME
+        msg.trigger_zone_radius = Pedsim.TRIGGER_ZONE_RADIUS
+        msg.chatting_probability = Pedsim.CHATTING_PROBABILITY
+        msg.tell_story_probability = Pedsim.TELL_STORY_PROBABILITY
+        msg.group_talking_probability = Pedsim.GROUP_TALKING_PROBABILITY
+        msg.talking_and_walking_probability = Pedsim.TALKING_AND_WALKING_PROBABILITY
+        msg.requesting_service_probability = Pedsim.REQUESTING_SERVICE_PROBABILITY
+        msg.requesting_guide_probability = Pedsim.REQUESTING_GUIDE_PROBABILITY
+        msg.requesting_follower_probability = Pedsim.REQUESTING_FOLLOWER_PROBABILITY
+        msg.max_talking_distance = Pedsim.MAX_TALKING_DISTANCE
+        msg.max_servicing_radius = Pedsim.MAX_SERVICING_RADIUS
+        msg.talking_base_time = Pedsim.TALKING_BASE_TIME
+        msg.tell_story_base_time = Pedsim.TELL_STORY_BASE_TIME
+        msg.group_talking_base_time = Pedsim.GROUP_TALKING_BASE_TIME
+        msg.talking_and_walking_base_time = Pedsim.TALKING_AND_WALKING_BASE_TIME
+        msg.receiving_service_base_time = Pedsim.RECEIVING_SERVICE_BASE_TIME
+        msg.requesting_service_base_time = Pedsim.REQUESTING_SERVICE_BASE_TIME
+        msg.force_factor_desired = Pedsim.FORCE_FACTOR_DESIRED
+        msg.force_factor_obstacle = Pedsim.FORCE_FACTOR_OBSTACLE
+        msg.force_factor_social = Pedsim.FORCE_FACTOR_SOCIAL
+        msg.force_factor_robot = Pedsim.FORCE_FACTOR_ROBOT
+
+        waypoints = []
+
+        for w in range(10):
+            position = self.map_manager.get_random_pos_on_map(
+                safe_dist=Constants.ObstacleManager.OBSTACLE_MAX_RADIUS
+            )
+
+            new_waypoint = Point()
+
+            new_waypoint.x = position[0]
+            new_waypoint.y = position[1]
+
+            waypoints.append(new_waypoint)
+
+        msg.waypoints = waypoints
+        msg.waypoint_mode = 0
+
+        return msg
+
     @staticmethod
     def get_robot_description(robot_name, namespace):
         arena_sim_path = rospkg.RosPack().get_path("arena-simulation-setup")
diff --git a/task_generator/task_generator/tasks/staged.py b/task_generator/task_generator/tasks/staged.py
index 41ec602a..57f5604f 100644
--- a/task_generator/task_generator/tasks/staged.py
+++ b/task_generator/task_generator/tasks/staged.py
@@ -31,6 +31,7 @@ def __init__(
         start_stage: int = 1,
         paths=None,
         namespace: str = "",
+        **kwargs
     ):
         super().__init__(obstacles_manager, robot_manager, map_manager)
 
diff --git a/utils/task_progress_publisher/scripts/task_progress_publisher.py b/utils/task_progress_publisher/scripts/task_progress_publisher.py
index fe85fb56..67f54004 100644
--- a/utils/task_progress_publisher/scripts/task_progress_publisher.py
+++ b/utils/task_progress_publisher/scripts/task_progress_publisher.py
@@ -2,7 +2,7 @@
 import os
 import requests
 
-from std_msgs.msg import Empty, Bool
+from std_msgs.msg import Empty
 
 
 class TaskProgressPublisher:
@@ -15,7 +15,7 @@ def __init__(self):
         self.task_finished_endpoint = rospy.get_param("task_finished_endpoint")
         self.new_best_model_endpoint = rospy.get_param("new_best_model_endpoint")
 
-        rospy.Subscriber("/scenario_finished", Bool, self.finished_task_callback)
+        rospy.Subscriber("/scenario_finished", Empty, self.finished_task_callback)
         rospy.Subscriber("/training_finished", Empty, self.finished_task_callback)
 
         rospy.Subscriber("/training/newBestModel", Empty, self.new_best_model_callback)