diff --git a/.gitignore b/.gitignore
index 872a0c947582a9fa8e05abf84720d245e3829e7f..ca21cd6cd4dbac932a0ed9e87a43ca04400331ac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,6 +12,8 @@
 install/hardware_emulator_lib.dll
 install/hardware_emulator_lib.so
 install/basic-simulator.jar
+install/results/*
 dependency-reduced-pom.xml
 .vscode/
-.factorypath
\ No newline at end of file
+.factorypath
+*.log
\ No newline at end of file
diff --git a/pom.xml b/pom.xml
index beec20b22e5ceea3daa4fab55129ba5a9fbf9bc5..9bb90d730b2c3eee0c18fa7bc3e69994d0ec0f62 100644
--- a/pom.xml
+++ b/pom.xml
@@ -9,12 +9,12 @@
 
     <groupId>montisim</groupId>
     <artifactId>basic-simulator</artifactId>
-    <version>2.2.1</version>
+    <version>2.2.2</version>
 
     <name>basic-simulator</name>
 
     <properties>
-        <montisim.hardware_emulator.version>2.0.14</montisim.hardware_emulator.version>
+        <montisim.hardware_emulator.version>2.1.2-SNAPSHOT</montisim.hardware_emulator.version>
 
 
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
diff --git a/settings.xml b/settings.xml
index 4369f88bc25b1815ccc288b5d2374002f8be521b..413d016cde0035354836a325c3cf684dc384a73a 100644
--- a/settings.xml
+++ b/settings.xml
@@ -37,11 +37,6 @@
       <mirrorOf>rosjava_mvn</mirrorOf>
       <url>https://github.com/rosjava/rosjava_mvn_repo/raw/master/</url>
     </mirror>
-    <mirror> 
-      <id>jfrog_repo</id>
-      <mirrorOf>jfrog</mirrorOf>
-      <url>https://repo.jfrog.org/artifactory/libs-releases</url>
-    </mirror>
   </mirrors>
   
   <profiles>
@@ -50,20 +45,25 @@
       <repositories>
         <repository>
           <id>central</id>
-          <url>http://central</url>
+          <url>https://repo1.maven.org/maven2/</url>
           <releases><enabled /></releases>
           <snapshots><enabled /></snapshots>
         </repository>
+<!--        <repository>
+            <id>spring</id>
+            <url>https://repo.spring.io/libs-release/</url>
+            <releases>
+                <enabled>true</enabled>
+            </releases>
+            <snapshots>
+                <enabled>true</enabled>
+            </snapshots>
+        </repository>-->
         <repository>
           <id>rosjava_mvn</id>
           <name>Public Rosjava repository</name>
           <url>https://github.com/rosjava/rosjava_mvn_repo/raw/master</url>
         </repository>
-        <repository>
-          <id>jfrog</id>
-          <name>JFrog repository</name>
-          <url>https://repo.jfrog.org/artifactory/libs-releases</url>
-        </repository>
       </repositories>
       <pluginRepositories>
         <pluginRepository>
diff --git a/src/main/java/de/rwth/montisim/basic_simulator/App.java b/src/main/java/de/rwth/montisim/basic_simulator/App.java
index 30fca37e66173674531f9416bbe428f57762e745..6c054487238af6cb0fd881f3c0495b578aa6f3b7 100644
--- a/src/main/java/de/rwth/montisim/basic_simulator/App.java
+++ b/src/main/java/de/rwth/montisim/basic_simulator/App.java
@@ -156,12 +156,9 @@ public class App
             SimulationConfig config = SimulationConfig.fromFile(scenarioFile);
             File mapPath = new File(config.map_name + ".osm");
             OsmMap map = new OsmMap(config.map_name, mapPath);
-            World world = new OsmToWorldLoader(map).getWorld();
-            Pathfinding pathfinding = new PathfindingImpl(world);
-            Simulator simulator = config.build(world, pathfinding, map);
 
             //Run Simulation
-            RLSimulationInit simInit = new RLSimulationInit(config, world, pathfinding, map);
+            RLSimulationInit simInit = new RLSimulationInit(config, map);
             simInit.setRLSettings(distributed, randomize, play);
             simInit.init();
         } catch (Exception e1) {
diff --git a/src/main/java/de/rwth/montisim/basic_simulator/gui/ScenarioVis.java b/src/main/java/de/rwth/montisim/basic_simulator/gui/ScenarioVis.java
index ffcc5c16b49a3b1eef0f79b1ea68dd10a1cd62cf..556ee62fb369f5c560356a25089d283f5f996616 100644
--- a/src/main/java/de/rwth/montisim/basic_simulator/gui/ScenarioVis.java
+++ b/src/main/java/de/rwth/montisim/basic_simulator/gui/ScenarioVis.java
@@ -104,7 +104,7 @@ public class ScenarioVis extends SimVis implements SimulationRunner {
         }
         if(current_scenario.charAt(0) == 'r' && current_scenario.charAt(1) == 'l'){
             topPanel.remove(control);
-            RLVisualizer viz = new RLVisualizer(world, map, pathfinding, simConfig, viewer, simConfig.start_time);
+            RLVisualizer viz = new RLVisualizer(map, simConfig, viewer, simConfig.start_time);
             viz.init(distributed, randomize, play);
             return;
         }
@@ -263,6 +263,16 @@ public class ScenarioVis extends SimVis implements SimulationRunner {
         });
         interm.add(checkBox4);
 
+        JCheckBox checkBox5 = new JCheckBox("Show driven Trajectory", UIInfo.drawDrivenTrajectory);
+        checkBox5.addItemListener(new ItemListener() {
+            public void itemStateChanged(ItemEvent e) {
+                UIInfo.drawDrivenTrajectory = e.getStateChange() == 1;
+                viewer.setDirty();
+                viewer.repaint();
+            }
+        });
+        interm.add(checkBox5);
+        
         JPanel bottomPanel = new JPanel();
         bottomPanel.setLayout(new BoxLayout(bottomPanel, BoxLayout.Y_AXIS));
         bottomPanel.setBorder(Browser.paneBorder);