diff --git a/examples/webots/worlds/shattuck_build.wbt b/examples/webots/worlds/shattuck_build.wbt
index d8787f5..262bb6d 100644
--- a/examples/webots/worlds/shattuck_build.wbt
+++ b/examples/webots/worlds/shattuck_build.wbt
@@ -1,4 +1,16 @@
-#VRML_SIM R2018b utf8
+#VRML_SIM R2023a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/vehicles/protos/toyota/ToyotaPrius.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/traffic/protos/TrafficCone.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/buildings/protos/SimpleBuilding.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/vehicles/protos/bmw/BmwX5.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/Road.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/Crossroad.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/traffic/protos/PedestrianCrossing.proto"
+
 WorldInfo {
   info [
     "World generated using the Open Street Map to Webots importer"
@@ -10,8 +22,8 @@ WorldInfo {
   lineScale 1
 }
 Viewpoint {
-  orientation 0.06461770486551385 0.9482822723560247 0.3107817307262565 3.5309412842670214
-  position -151.48866564657106 284.2468628234057 -365.5475579495917
+  orientation 0.3107817307262564 0.06461770486551383 -0.9482822723560249 2.7522440229125653
+  position 365.5475579495917 151.48866564657106 284.2468628234057
   near 3
 }
 TexturedBackground {
@@ -19,14 +31,16 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 Floor {
-  translation 0 -0.02 0
+  translation 0 0 -0.02
+  rotation 0 0 1 1.5707963267948966
   size 164 249
   texture [
     "textures/grass.jpg"
   ]
 }
 Crossroad {
-  translation -54.900549 0.01 -34.266181
+  translation 34.266181 54.900549 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(1)"
   id "2053883367"
   shape []
@@ -36,7 +50,8 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation 39.444071 0.01 -51.095293
+  translation 51.095293 -39.444071 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(2)"
   id "2069144153"
   shape []
@@ -46,7 +61,8 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation -18.059856 0.01 5.423113
+  translation -5.423113 18.059856 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(3)"
   id "2124160133"
   shape []
@@ -56,7 +72,8 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation -20.265521 0.01 66.22361
+  translation -66.22361 20.265521 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(4)"
   id "4168207053"
   shape []
@@ -66,26 +83,27 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation 9.053299 0.01 -45.608661
+  translation 45.608661 -9.053299 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(5)"
   id "53050568"
   shape [
-    3.621615 0 -9.230596
-    3.614296 0 -9.237431
-    3.604582 0 -9.239861
-    -9.227884 0 -3.62306
-    -9.236793 0 -3.615386
-    -9.239849 0 -3.604031
-    -6.189498 0 5.195355
-    -6.182768 0 5.204677
-    -1.768499 0 8.587793
-    -1.757462 0 8.591887
-    7.745813 0 4.1043
-    7.75354 0 4.097847
-    7.757144 0 4.088447
-    7.626889 0 2.669112
-    6.182796 0 -5.201291
-    3.621615 0 -9.230596
+    9.230596 3.621615 0
+    9.237431 3.614296 0
+    9.239861 3.604582 0
+    3.62306 -9.227884 0
+    3.615386 -9.236793 0
+    3.604031 -9.239849 0
+    -5.195355 -6.189498 0
+    -5.204677 -6.182768 0
+    -8.587793 -1.768499 0
+    -8.591887 -1.757462 0
+    -4.1043 7.745813 0
+    -4.097847 7.75354 0
+    -4.088447 7.757144 0
+    -2.669112 7.626889 0
+    5.201291 6.182796 0
+    9.230596 3.621615 0
   ]
   connectedRoadIDs [
     "196599890"
@@ -95,27 +113,28 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation -13.818544 0.01 -41.445837
+  translation 41.445837 13.818544 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(6)"
   id "53050570"
   shape [
-    -2.912672 0 -7.283319
-    -2.923702 0 -7.281045
-    -7.61869 0 -2.691689
-    -7.624268 0 -2.681564
-    -6.1872 0 5.196052
-    -5.879973 0 6.502041
-    -5.874328 0 6.511914
-    -5.864213 0 6.517114
-    4.594815 0 7.465291
-    4.60636 0 7.462841
-    7.620033 0 2.69257
-    7.62312 0 2.68201
-    6.190279 0 -5.192384
-    6.18511 0 -5.202569
-    4.07372 0 -6.705776
-    4.063762 0 -6.709414
-    -2.912672 0 -7.283319
+    7.283319 -2.912672 0
+    7.281045 -2.923702 0
+    2.691689 -7.61869 0
+    2.681564 -7.624268 0
+    -5.196052 -6.1872 0
+    -6.502041 -5.879973 0
+    -6.511914 -5.874328 0
+    -6.517114 -5.864213 0
+    -7.465291 4.594815 0
+    -7.462841 4.60636 0
+    -2.69257 7.620033 0
+    -2.68201 7.62312 0
+    5.192384 6.190279 0
+    5.202569 6.18511 0
+    6.705776 4.07372 0
+    6.709414 4.063762 0
+    7.283319 -2.912672 0
   ]
   connectedRoadIDs [
     "193256685"
@@ -125,25 +144,26 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation 30.450702 0.01 49.370647
+  translation -49.370647 -30.450702 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(7)"
   id "53096083"
   shape [
-    4.819604 0 -4.532706
-    4.815042 0 -4.543329
-    4.805363 0 -4.549653
-    -5.644029 0 -3.444973
-    -5.654724 0 -3.440451
-    -5.661104 0 -3.43075
-    -5.240716 0 0.554795
-    -5.232536 0 0.627263
-    -4.756315 0 4.598953
-    -4.751645 0 4.609584
-    -4.741856 0 4.61583
-    5.691249 0 3.36639
-    5.701841 0 3.361755
-    5.708097 0 3.352032
-    4.819604 0 -4.532706
+    4.532706 4.819604 0
+    4.543329 4.815042 0
+    4.549653 4.805363 0
+    3.444973 -5.644029 0
+    3.440451 -5.654724 0
+    3.43075 -5.661104 0
+    -0.554795 -5.240716 0
+    -0.627263 -5.232536 0
+    -4.598953 -4.756315 0
+    -4.609584 -4.751645 0
+    -4.61583 -4.741856 0
+    -3.36639 5.691249 0
+    -3.361755 5.701841 0
+    -3.352032 5.708097 0
+    4.532706 4.819604 0
   ]
   connectedRoadIDs [
     "26379240"
@@ -153,24 +173,25 @@ Crossroad {
   ]
 }
 Crossroad {
-  translation -20.356243 0.01 58.024471
+  translation -58.024471 20.356243 0.01
+  rotation 0 0 1 1.5707963267948966
   name "crossroad(8)"
   id "53096121"
   shape [
-    5.224888 0 -4.05875
-    5.221393 0 -4.069823
-    5.212335 0 -4.077088
-    -5.294677 0 -3.960972
-    -5.305749 0 -3.957477
-    -5.313015 0 -3.94842
-    -5.225421 0 4.058064
-    -5.221927 0 4.069137
-    -5.212871 0 4.076403
-    5.294156 0 3.961668
-    5.30523 0 3.958174
-    5.312496 0 3.949118
-    5.269677 0 -0.058308
-    5.224888 0 -4.05875
+    4.05875 5.224888 0
+    4.069823 5.221393 0
+    4.077088 5.212335 0
+    3.960972 -5.294677 0
+    3.957477 -5.305749 0
+    3.94842 -5.313015 0
+    -4.058064 -5.225421 0
+    -4.069137 -5.221927 0
+    -4.076403 -5.212871 0
+    -3.961668 5.294156 0
+    -3.958174 5.30523 0
+    -3.949118 5.312496 0
+    0.058308 5.269677 0
+    4.05875 5.224888 0
   ]
   connectedRoadIDs [
     "196739902"
@@ -180,7 +201,7 @@ Crossroad {
   ]
 }
 Road {
-  translation 41.75936 0.01 152.251684
+  translation -152.251684 -41.75936 0.01
   name "Shattuck Avenue"
   id "26379240"
   endJunction "53096083"
@@ -188,20 +209,16 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
   wayPoints [
     0 0 0
-    0.058161 0 -8.289073
-    -10.25461 0 -94.090275
-    -10.830162 0 -98.890383
+    8.289073 -0.058161 0
+    94.090275 10.25461 0
+    98.890383 10.830162 0
   ]
   endingAngle [
-    3.022403
+    -0.11918965358979294
   ]
   endLine [
     "textures/road_line_triangle.png"
@@ -211,75 +228,66 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation 41.817521 -0.07 143.962612
-  rotation 0 1 0 0.11962
+  translation -143.962612 -41.817521 -0.07
+  rotation 0 0 1 1.6904163267948966
   name "pedestrian crossing(1)"
   size 10.5 4.2
 }
 PedestrianCrossing {
-  translation 31.504751 -0.07 58.161409
-  rotation 0 1 0 0.119334
+  translation -58.161409 -31.504751 -0.07
+  rotation 0 0 1 1.6901303267948966
   name "pedestrian crossing(2)"
   size 10.5 4.2
 }
 Road {
-  translation 228.850909 0.01 -84.234343
+  translation 84.234343 -228.850909 0.01
   name "Center Street"
   id "34815522"
   endJunction "2069144153"
   width 8
   speedLimit 11.176
-  dashedLine [
-    FALSE
-  ]
   wayPoints [
     0 0 0
-    -8.098594 0 1.439187
-    -66.363657 0 11.448375
-    -102.315539 0 17.81027
-    -134.674844 0 23.533913
-    -189.406838 0 33.13905
+    -1.439187 8.098594 0
+    -11.448375 66.363657 0
+    -17.81027 102.315539 0
+    -23.533913 134.674844 0
+    -33.13905 189.406838 0
   ]
   endingAngle [
-    1.397071
+    -1.7445216535897932
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
-  translation 220.752315 -0.07 -82.795155
-  rotation 0 1 0 -1.40067
+  translation 82.795155 -220.752315 -0.07
+  rotation 0 0 1 0.1701263267948965
   name "pedestrian crossing(3)"
   size 8 3.2
 }
 PedestrianCrossing {
-  translation 126.53537 -0.07 -66.424072
-  rotation 0 1 0 -1.395729
+  translation 66.424072 -126.53537 -0.07
+  rotation 0 0 1 0.1750673267948966
   name "pedestrian crossing(4)"
   size 8 3.2
 }
 Road {
-  translation 1.537032 0.01 -44.240651
+  translation 44.240651 -1.537032 0.01
   name "Center Street(1)"
   id "34815523"
   startJunction "53050568"
   endJunction "53050570"
   width 8
   speedLimit 11.176
-  dashedLine [
-    FALSE
-  ]
   wayPoints [
     0 0 0
-    -8.449207 0 1.537811
+    -1.537811 8.449207 0
   ]
   startingAngle [
-    1.237105
+    -1.9044876535897932
   ]
   endingAngle [
-    1.390804
+    -1.7507886535897932
   ]
   startLine [
     "textures/road_line_dashed.png"
@@ -290,12 +298,9 @@ Road {
     "textures/road_line_dashed.png"
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 Road {
-  translation -14.452287 0.01 -34.454548
+  translation 34.454548 14.452287 0.01
   name "Shattuck Avenue(1)"
   id "193256685"
   startJunction "53050570"
@@ -304,23 +309,19 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
   wayPoints [
     0 0 0
-    -0.313401 0 3.457357
-    -1.705634 0 18.836062
-    -3.607569 0 39.877661
+    -3.457357 0.313401 0
+    -18.836062 1.705634 0
+    -39.877661 3.607569 0
   ]
   startingAngle [
-    0.090409
+    -3.051183653589793
   ]
   endingAngle [
-    0.090144
+    -3.051448653589793
   ]
   startLine [
     "textures/road_line_dashed.png"
@@ -330,82 +331,70 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation -14.765687 -0.07 -30.997191
-  rotation 0 1 0 -0.090284
+  translation 30.997191 14.765687 -0.07
+  rotation 0 0 1 1.4805123267948965
   name "pedestrian crossing(5)"
   size 10.5 4.2
 }
 Road {
-  translation -54.900549 0.01 -34.266181
+  translation 34.266181 54.900549 0.01
   name "Center Street(2)"
   id "194859187"
   startJunction "2053883367"
   endJunction "53050570"
   width 8
   speedLimit 11.176
-  dashedLine [
-    FALSE
-  ]
   wayPoints [
     0 0 0
-    15.521509 0 -2.651694
-    31.622389 0 -5.452151
-    34.176955 0 -5.918663
+    2.651694 -15.521509 0
+    5.452151 -31.622389 0
+    5.918663 -34.176955 0
   ]
   startingAngle [
-    -1.740003
+    1.4015896535897931
   ]
   endingAngle [
-    -1.751236
+    1.390356653589793
   ]
   endLine [
     "textures/road_line_triangle.png"
     "textures/road_line_dashed.png"
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
-  translation -23.27816 -0.07 -39.718332
-  rotation 0 1 0 -1.390168
+  translation 39.718332 23.27816 -0.07
+  rotation 0 0 1 0.18062832679489652
   name "pedestrian crossing(6)"
   size 8 3.2
 }
 Road {
-  translation -106.778873 0.01 -25.33712
+  translation 25.33712 106.778873 0.01
   name "Center Street(3)"
   id "194872388"
   endJunction "2053883367"
   width 8
   speedLimit 11.176
-  dashedLine [
-    FALSE
-  ]
   wayPoints [
     0 0 0
-    8.599559 0 -1.476736
-    13.527377 0 -2.325445
-    25.139819 0 -4.325144
-    51.878324 0 -8.929061
+    1.476736 -8.599559 0
+    2.325445 -13.527377 0
+    4.325144 -25.139819 0
+    8.929061 -51.878324 0
   ]
   endingAngle [
-    -1.740003
+    1.4015896535897931
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
-  translation -93.251495 -0.07 -27.662564
-  rotation 0 1 0 -1.400266
+  translation 27.662564 93.251495 -0.07
+  rotation 0 0 1 0.17053032679489658
   name "pedestrian crossing(7)"
   size 8 3.2
 }
 Road {
-  translation -7.116999 0.01 -145.843972
+  translation 145.843972 7.116999 0.01
   name "Shattuck Avenue(2)"
   id "195430727"
   endJunction "53050570"
@@ -415,15 +404,15 @@ Road {
   leftBorder FALSE
   wayPoints [
     0 0 0
-    -0.135274 0 7.424198
-    -0.566281 0 14.151675
-    -2.22047 0 44.356513
-    -4.219928 0 74.275569
-    -5.930657 0 95.027172
-    -6.126 0 97.401768
+    -7.424198 0.135274 0
+    -14.151675 0.566281 0
+    -44.356513 2.22047 0
+    -74.275569 4.219928 0
+    -95.027172 5.930657 0
+    -97.401768 6.126 0
   ]
   endingAngle [
-    0.082079
+    -3.0595136535897933
   ]
   endLine [
     "textures/road_line_triangle.png"
@@ -432,89 +421,79 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation -7.252273 -0.07 -138.419774
-  rotation 0 1 0 -0.063979
+  translation 138.419774 7.252273 -0.07
+  rotation 0 0 1 1.5068173267948965
   name "pedestrian crossing(8)"
   size 7 2.8
 }
 PedestrianCrossing {
-  translation -13.047656 -0.07 -50.8168
-  rotation 0 1 0 -0.082079
+  translation 50.8168 13.047656 -0.07
+  rotation 0 0 1 1.4887173267948965
   name "pedestrian crossing(9)"
   size 7 2.8
 }
 Road {
-  translation 39.444071 0.01 -51.095293
+  translation 51.095293 -39.444071 0.01
   name "Center Street(4)"
   id "196599890"
   startJunction "2069144153"
   endJunction "53050568"
   width 8
   speedLimit 11.176
-  dashedLine [
-    FALSE
-  ]
   wayPoints [
     0 0 0
-    -6.702332 0 1.139937
-    -23.486091 0 4.219662
+    -1.139937 6.702332 0
+    -4.219662 23.486091 0
   ]
   startingAngle [
-    1.397071
+    -1.7445216535897932
   ]
   endingAngle [
-    1.389331
+    -1.752261653589793
   ]
   endLine [
     "textures/road_line_triangle.png"
     "textures/road_line_dashed.png"
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
-  translation 32.741739 -0.07 -49.955356
-  rotation 0 1 0 -1.389321
+  translation 49.955356 -32.741739 -0.07
+  rotation 0 0 1 0.18147532679489656
   name "pedestrian crossing(10)"
   size 8 3.2
 }
 Road {
-  translation -25.615979 0.01 58.945969
+  translation -58.945969 25.615979 0.01
   name "Addison Street"
   id "196739902"
   startJunction "53096121"
   width 4
   numberOfLanes 1
   speedLimit 11.176
-  dashedLine []
   wayPoints [
     0 0 0
-    -5.017198 0 0.879006
-    -36.120279 0 6.327117
-    -45.711081 0 8.133381
+    -0.879006 5.017198 0
+    -6.327117 36.120279 0
+    -8.133381 45.711081 0
   ]
   startingAngle [
-    1.559856
+    -1.5817366535897932
   ]
   startLine [
     "textures/road_line_dashed.png"
     "textures/road_line_triangle.png"
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
-  translation -30.633177 -0.07 59.824975
-  rotation 0 1 0 -1.397392
+  translation -59.824975 30.633177 -0.07
+  rotation 0 0 1 0.17340432679489662
   name "pedestrian crossing(11)"
   size 4 1.6
 }
 Road {
-  translation -20.311774 0.01 62.043465
+  translation -62.043465 20.311774 0.01
   name "Shattuck Avenue(3)"
   id "196739959"
   startJunction "53096121"
@@ -523,21 +502,17 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
   wayPoints [
     0 0 0
-    0.046252 0 4.180145
+    -4.180145 -0.046252 0
   ]
   startingAngle [
-    -0.010919
+    3.130673653589793
   ]
   endingAngle [
-    -0.094731
+    3.046861653589793
   ]
   startLine [
     "textures/road_line_dashed.png"
@@ -547,13 +522,13 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation -20.331906 -0.07 60.223977
-  rotation 0 1 0 0.011064
+  translation -60.223977 20.331906 -0.07
+  rotation 0 0 1 1.5818603267948965
   name "pedestrian crossing(12)"
   size 10.5 4.2
 }
 Road {
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+  translation -5.423113 18.059856 0.01
   name "Shattuck Avenue(4)"
   id "202447070"
   startJunction "2124160133"
@@ -562,23 +537,19 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
   wayPoints [
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   splineSubdivision 0
 }
 PedestrianCrossing {
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-  rotation 0 1 0 0.011196
+  translation -50.147094 20.444439 -0.07
+  rotation 0 0 1 1.5819923267948965
   name "pedestrian crossing(13)"
   size 10.5 4.2
 }
 Road {
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+  translation -45.373735 -30.027579 0.01
   name "Shattuck Avenue(5)"
   id "288515137"
   startJunction "53096083"
@@ -603,26 +574,22 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
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@@ -637,19 +604,19 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation 29.538767 -0.07 40.756305
-  rotation 0 1 0 0.106267
+  translation -40.756305 -29.538767 -0.07
+  rotation 0 0 1 1.6770633267948967
   name "pedestrian crossing(14)"
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 }
 PedestrianCrossing {
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-  rotation 0 1 0 0.441404
+  translation 35.802958 -13.686467 -0.07
+  rotation 0 0 1 2.0122003267948965
   name "pedestrian crossing(15)"
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 }
 Road {
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+  translation -57.124647 15.095987 0.01
   name "Addison Street(1)"
   id "288515145"
   startJunction "53096121"
@@ -657,18 +624,17 @@ Road {
   width 4
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-  dashedLine []
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@@ -679,24 +645,21 @@ Road {
     "textures/road_line_dashed.png"
   ]
   splineSubdivision 0
-  texture [
-    "textures/road_no_border_line.jpg"
-  ]
 }
 PedestrianCrossing {
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-  rotation 0 1 0 -1.402413
+  translation -56.373117 10.702635 -0.07
+  rotation 0 0 1 0.16838332679489668
   name "pedestrian crossing(16)"
   size 4 1.6
 }
 PedestrianCrossing {
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-  rotation 0 1 0 -1.401862
+  translation -51.382732 -18.653736 -0.07
+  rotation 0 0 1 0.1689343267948966
   name "pedestrian crossing(17)"
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 }
 Road {
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+  translation 52.038542 -6.23804 0.01
   name "Shattuck Avenue(6)"
   id "415876825"
   startJunction "53050568"
@@ -704,22 +667,17 @@ Road {
   numberOfLanes 4
   numberOfForwardLanes 4
   speedLimit 11.176
-  dashedLine [
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-    TRUE
-    TRUE
-  ]
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   leftBorder FALSE
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@@ -730,13 +688,13 @@ Road {
   splineSubdivision 0
 }
 PedestrianCrossing {
-  translation 5.533463 -0.07 -53.647753
-  rotation 0 1 0 0.312026
+  translation 53.647753 -5.533463 -0.07
+  rotation 0 0 1 1.8828223267948967
   name "pedestrian crossing(18)"
   size 14 5.6
 }
 Road {
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+  translation -66.22361 20.265521 0.01
   name "Shattuck Avenue(7)"
   id "415878140"
   startJunction "4168207053"
@@ -744,421 +702,414 @@ Road {
   numberOfLanes 3
   numberOfForwardLanes 3
   speedLimit 11.176
-  dashedLine [
-    TRUE
-    TRUE
-  ]
   rightBorder FALSE
   leftBorder FALSE
   wayPoints [
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 }
 PedestrianCrossing {
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-  rotation 0 1 0 0.094731
+  translation -72.196708 19.697988 -0.07
+  rotation 0 0 1 1.6655273267948967
   name "pedestrian crossing(19)"
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 Road {
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+  translation -48.496019 -35.682517 0.01
   name "Addison Street(2)"
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 PedestrianCrossing {
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-  rotation 0 1 0 -1.40553
+  translation -47.601092 -41.035756 -0.07
+  rotation 0 0 1 0.16526632679489664
   name "pedestrian crossing(20)"
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 PedestrianCrossing {
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-  rotation 0 1 0 -1.404091
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 PedestrianCrossing {
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   name "pedestrian crossing(22)"
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 SimpleBuilding {
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-  wallType "old brick wall"
   roofShape "flat roof"
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 SimpleBuilding {
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   name "building(2)"
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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 SimpleBuilding {
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-    -3.99 4.38
-    -4.11 2.71
-    -3.18 -0.24
-    -1.53 -2.1
-    1.32 -3.36
-    4.72 -3.12
-    7.49 -1.27
+    6.61 0.69
+    6.34 8.34
+    8.71 6.26
+    9.71 3.74
+    9.61 0.88
+    8.27 -1.74
+    5.7 -3.62
+    4.38 -3.99
+    2.71 -4.11
+    -0.24 -3.18
+    -2.1 -1.53
+    -3.36 1.32
+    -3.12 4.72
+    -1.27 7.49
   ]
   wallType "transparent highrise"
   roofShape "flat roof"
 }
 DEF EgoCar BmwX5 {
-  translation -6.631316157005797 -0.0522634286958059 -127.80657228197518
-  rotation 0.3508702546057875 0.9363657364932186 0.010453322647940558 -0.06362067511004037
+  translation 127.80657228197518 6.631316157005797 -0.0522634286958059
+  rotation -0.010453322647940558 -0.3508702546057875 0.9363657364932186 -0.06362067511004037
   controller "camera"
   sensorsSlotFront [
     Camera {
@@ -1168,25 +1119,26 @@ DEF EgoCar BmwX5 {
   ]
 }
 DEF BrokenCar ToyotaPrius {
-  translation -8.555792580696 -0.09732863173262865 -87.43932390638221
-  rotation 0.005112108871586753 0.9998670278796185 0.015485247885109642 -2.5052861539248794
+  translation 87.43932390638221 8.555792580696 -0.09732863173262865
+  rotation -0.015485247885109642 -0.005112108871586753 0.9998670278796185 -2.5052861539248794
   color 1 1 1
   name "vehicle(1)"
 }
 DEF TrafficCone1 TrafficCone {
-  translation -7.3129421779434445 0 -99.52492364059157
-  rotation 0 1 0 -5.6748522770429455
+  translation 99.52492364059157 7.3129421779434445 0
+  rotation 0 0 1 -5.6748522770429455
 }
 DEF TrafficCone2 TrafficCone {
-  translation -8.969604867523527 0 -96.0993168711621
-  rotation 0 1 0 -0.6746554881491255
+  translation 96.0993168711621 8.969604867523527 0
+  rotation 0 0 1 -0.6746554881491255
   name "traffic cone(1)"
 }
 DEF TrafficCone0 TrafficCone {
-  translation -6.22736021299578 0 -100.69513161119235
-  rotation 0 1 0 -4.607678493488908
+  translation 100.69513161119235 6.22736021299578 0
+  rotation 0 0 1 -4.607678493488908
   name "traffic cone(2)"
 }
-Supervisor {
+Robot {
   controller "scenic_cones_supervisor"
+  supervisor TRUE
 }
diff --git a/pyproject.toml b/pyproject.toml
index 1e42913..2d7d2ec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -70,8 +70,9 @@ recommonmark = {version = "^0.6.0", optional = true}
 [tool.poetry.extras]
 bayesopt = ["GPy", "GPyOpt"]
 parallel = ["ray"]
+tf = ["tensorflow"]
+tf-macos = ["tensorflow-macos", "tensorflow-metal"]
 examples = [
-	"tensorflow",
 	"gym",
 	"pyglet",
 	"opencv-python",