diff --git a/LibCarla/source/carla/client/WalkerAIController.cpp b/LibCarla/source/carla/client/WalkerAIController.cpp
index 55cd0587d..6f356b607 100644
--- a/LibCarla/source/carla/client/WalkerAIController.cpp
+++ b/LibCarla/source/carla/client/WalkerAIController.cpp
@@ -7,6 +7,7 @@
 #include "carla/client/WalkerAIController.h"
 
 #include "carla/client/detail/Simulator.h"
+#include "carla/client/detail/WalkerNavigation.h"
 
 namespace carla {
 namespace client {
diff --git a/LibCarla/source/carla/client/WalkerAIController.h b/LibCarla/source/carla/client/WalkerAIController.h
index 8ad4de185..d6efb21e4 100644
--- a/LibCarla/source/carla/client/WalkerAIController.h
+++ b/LibCarla/source/carla/client/WalkerAIController.h
@@ -7,7 +7,6 @@
 #pragma once
 
 #include "carla/client/Actor.h"
-#include "carla/client/detail/WalkerNavigation.h"
 #include "carla/geom/Vector3D.h"
 
 #include <boost/optional.hpp>
diff --git a/LibCarla/source/carla/client/detail/Episode.cpp b/LibCarla/source/carla/client/detail/Episode.cpp
index ee586c91a..cdd1408ec 100644
--- a/LibCarla/source/carla/client/detail/Episode.cpp
+++ b/LibCarla/source/carla/client/detail/Episode.cpp
@@ -34,12 +34,13 @@ using namespace std::chrono_literals;
     return actors.GetActorsById(actor_ids);
   }
 
-  Episode::Episode(Client &client)
-    : Episode(client, client.GetEpisodeInfo()) {}
+  Episode::Episode(Client &client, std::weak_ptr<Simulator> simulator)
+    : Episode(client, client.GetEpisodeInfo(), simulator) {}
 
-  Episode::Episode(Client &client, const rpc::EpisodeInfo &info)
+  Episode::Episode(Client &client, const rpc::EpisodeInfo &info, std::weak_ptr<Simulator> simulator)
     : _client(client),
       _state(std::make_shared<EpisodeState>(info.id)),
+      _simulator(simulator),
       _token(info.token) {}
 
   Episode::~Episode() {
@@ -121,18 +122,6 @@ using namespace std::chrono_literals;
     return actor;
   }
 
-  std::shared_ptr<WalkerNavigation> Episode::CreateNavigationIfMissing() {
-    std::shared_ptr<WalkerNavigation> navigation;
-    do {
-      navigation = _navigation.load();
-      if (navigation == nullptr) {
-        auto new_navigation = std::make_shared<WalkerNavigation>(_client);
-        _navigation.compare_exchange(&navigation, new_navigation);
-      }
-    } while (navigation == nullptr);
-    return navigation;
-  }
-
   std::vector<rpc::Actor> Episode::GetActorsById(const std::vector<ActorId> &actor_ids) {
     return GetActorsById_Impl(_client, _actors, actor_ids);
   }
@@ -144,7 +133,7 @@ using namespace std::chrono_literals;
   void Episode::OnEpisodeStarted() {
     _actors.Clear();
     _on_tick_callbacks.Clear();
-    _navigation.reset();
+    _walker_navigation.reset();
     traffic_manager::TrafficManager::Release();
   }
 
@@ -160,12 +149,16 @@ using namespace std::chrono_literals;
     return false;
   }
 
-  void Episode::NavigationTick() {
-    // tick pedestrian navigation
-    auto navigation = _navigation.load();
-    if (navigation != nullptr) {
-      navigation->Tick(shared_from_this());
-    }
+  std::shared_ptr<WalkerNavigation> Episode::CreateNavigationIfMissing() {
+    std::shared_ptr<WalkerNavigation> nav;
+    do {
+      nav = _walker_navigation.load();
+      if (nav == nullptr) {
+        auto new_nav = std::make_shared<WalkerNavigation>(_simulator);
+        _walker_navigation.compare_exchange(&nav, new_nav);
+      }
+    } while (nav == nullptr);
+    return nav;
   }
 
 } // namespace detail
diff --git a/LibCarla/source/carla/client/detail/Episode.h b/LibCarla/source/carla/client/detail/Episode.h
index 415fd16e2..5a15e444c 100644
--- a/LibCarla/source/carla/client/detail/Episode.h
+++ b/LibCarla/source/carla/client/detail/Episode.h
@@ -14,7 +14,7 @@
 #include "carla/client/detail/CachedActorList.h"
 #include "carla/client/detail/CallbackList.h"
 #include "carla/client/detail/EpisodeState.h"
-#include "carla/client/detail/WalkerNavigation.h"
+#include "carla/client/detail/EpisodeProxy.h"
 #include "carla/rpc/EpisodeInfo.h"
 
 #include <vector>
@@ -24,6 +24,7 @@ namespace client {
 namespace detail {
 
   class Client;
+  class WalkerNavigation;
 
   /// Holds the current episode, and the current episode state.
   ///
@@ -35,7 +36,7 @@ namespace detail {
       private NonCopyable {
   public:
 
-    explicit Episode(Client &client);
+    explicit Episode(Client &client, std::weak_ptr<Simulator> simulator);
 
     ~Episode();
 
@@ -49,14 +50,6 @@ namespace detail {
       return _state.load();
     }
 
-    std::shared_ptr<WalkerNavigation> CreateNavigationIfMissing();
-
-    std::shared_ptr<WalkerNavigation> GetNavigation() const {
-      auto nav = _navigation.load();
-      DEBUG_ASSERT(nav != nullptr);
-      return nav;
-    }
-
     void RegisterActor(rpc::Actor actor) {
       _actors.Insert(std::move(actor));
     }
@@ -95,17 +88,9 @@ namespace detail {
       _on_light_update_callbacks.Remove(id);
     }
 
-    void SetPedestriansCrossFactor(float percentage) {
-      auto nav = _navigation.load();
-      DEBUG_ASSERT(nav != nullptr);
-      nav->SetPedestriansCrossFactor(percentage);
-    }
+    void SetPedestriansCrossFactor(float percentage);
 
-    void SetPedestriansSeed(unsigned int seed) {
-      auto nav = _navigation.load();
-      DEBUG_ASSERT(nav != nullptr);
-      nav->SetPedestriansSeed(seed);
-    }
+    void SetPedestriansSeed(unsigned int seed);
 
     void AddPendingException(std::string e) {
       _pending_exceptions = true;
@@ -114,11 +99,11 @@ namespace detail {
 
     bool HasMapChangedSinceLastCall();
 
-    void NavigationTick();
+    std::shared_ptr<WalkerNavigation> CreateNavigationIfMissing();
 
   private:
 
-    Episode(Client &client, const rpc::EpisodeInfo &info);
+    Episode(Client &client, const rpc::EpisodeInfo &info, std::weak_ptr<Simulator> simulator);
 
     void OnEpisodeStarted();
 
@@ -128,8 +113,6 @@ namespace detail {
 
     AtomicSharedPtr<const EpisodeState> _state;
 
-    AtomicSharedPtr<WalkerNavigation> _navigation;
-
     std::string _pending_exceptions_msg;
 
     CachedActorList _actors;
@@ -142,11 +125,15 @@ namespace detail {
 
     RecurrentSharedFuture<WorldSnapshot> _snapshot;
 
+    AtomicSharedPtr<WalkerNavigation> _walker_navigation;
+
     const streaming::Token _token;
 
     bool _pending_exceptions = false;
 
     bool _should_update_map = true;
+
+    std::weak_ptr<Simulator> _simulator;
   };
 
 } // namespace detail
diff --git a/LibCarla/source/carla/client/detail/Simulator.cpp b/LibCarla/source/carla/client/detail/Simulator.cpp
index ba424e67b..b2992f6d6 100644
--- a/LibCarla/source/carla/client/detail/Simulator.cpp
+++ b/LibCarla/source/carla/client/detail/Simulator.cpp
@@ -17,6 +17,7 @@
 #include "carla/client/TimeoutException.h"
 #include "carla/client/WalkerAIController.h"
 #include "carla/client/detail/ActorFactory.h"
+#include "carla/client/detail/WalkerNavigation.h"
 #include "carla/trafficmanager/TrafficManager.h"
 #include "carla/sensor/Deserializer.h"
 
@@ -126,16 +127,20 @@ namespace detail {
   // -- Access to current episode ----------------------------------------------
   // ===========================================================================
 
-  EpisodeProxy Simulator::GetCurrentEpisode() {
+  void Simulator::GetReadyCurrentEpisode() {
     if (_episode == nullptr) {
       ValidateVersions(_client);
-      _episode = std::make_shared<Episode>(_client);
+      _episode = std::make_shared<Episode>(_client, std::weak_ptr<Simulator>(shared_from_this()));
       _episode->Listen();
       if (!GetEpisodeSettings().synchronous_mode) {
         WaitForTick(_client.GetTimeout());
       }
       _light_manager->SetEpisode(WeakEpisodeProxy{shared_from_this()});
     }
+  }
+EpisodeProxy Simulator::GetCurrentEpisode() {
+    log_warning("GetCurrentEpisode");
+    GetReadyCurrentEpisode();
     return EpisodeProxy{shared_from_this()};
   }
 
@@ -205,7 +210,7 @@ namespace detail {
     DEBUG_ASSERT(_episode != nullptr);
 
     // tick pedestrian navigation
-    _episode->NavigationTick();
+    NavigationTick();
 
     auto result = _episode->WaitForState(timeout);
     if (!result.has_value()) {
@@ -218,7 +223,7 @@ namespace detail {
     DEBUG_ASSERT(_episode != nullptr);
     
     // tick pedestrian navigation
-    _episode->NavigationTick();
+    NavigationTick();
     
     // send tick command
     const auto frame = _client.SendTickCue();
@@ -281,6 +286,19 @@ namespace detail {
   // -- AI ---------------------------------------------------------------------
   // ===========================================================================
 
+  std::shared_ptr<WalkerNavigation> Simulator::GetNavigation() {
+    DEBUG_ASSERT(_episode != nullptr);
+    auto nav = _episode->CreateNavigationIfMissing();
+    return nav;
+  }
+
+  // tick pedestrian navigation
+  void Simulator::NavigationTick() {
+    DEBUG_ASSERT(_episode != nullptr);
+    auto nav = _episode->CreateNavigationIfMissing();
+    nav->Tick(_episode);
+  }
+
   void Simulator::RegisterAIController(const WalkerAIController &controller) {
     auto walker = controller.GetParent();
     if (walker == nullptr) {
@@ -288,9 +306,8 @@ namespace detail {
       return;
     }
     DEBUG_ASSERT(_episode != nullptr);
-    auto navigation = _episode->CreateNavigationIfMissing();
-    DEBUG_ASSERT(navigation != nullptr);
-    navigation->RegisterWalker(walker->GetId(), controller.GetId());
+    auto nav = _episode->CreateNavigationIfMissing();
+    nav->RegisterWalker(walker->GetId(), controller.GetId());
   }
 
   void Simulator::UnregisterAIController(const WalkerAIController &controller) {
@@ -300,30 +317,26 @@ namespace detail {
       return;
     }
     DEBUG_ASSERT(_episode != nullptr);
-    auto navigation = _episode->CreateNavigationIfMissing();
-    DEBUG_ASSERT(navigation != nullptr);
-    navigation->UnregisterWalker(walker->GetId(), controller.GetId());
+    auto nav = _episode->CreateNavigationIfMissing();
+    nav->UnregisterWalker(walker->GetId(), controller.GetId());
   }
 
   boost::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() {
     DEBUG_ASSERT(_episode != nullptr);
-    auto navigation = _episode->CreateNavigationIfMissing();
-    DEBUG_ASSERT(navigation != nullptr);
-    return navigation->GetRandomLocation();
+    auto nav = _episode->CreateNavigationIfMissing();
+    return nav->GetRandomLocation();
   }
 
   void Simulator::SetPedestriansCrossFactor(float percentage) {
     DEBUG_ASSERT(_episode != nullptr);
-    auto navigation = _episode->CreateNavigationIfMissing();
-    DEBUG_ASSERT(navigation != nullptr);
-    navigation->SetPedestriansCrossFactor(percentage);
+    auto nav = _episode->CreateNavigationIfMissing();
+    nav->SetPedestriansCrossFactor(percentage);
   }
 
   void Simulator::SetPedestriansSeed(unsigned int seed) {
     DEBUG_ASSERT(_episode != nullptr);
-    auto navigation = _episode->CreateNavigationIfMissing();
-    DEBUG_ASSERT(navigation != nullptr);
-    navigation->SetPedestriansSeed(seed);
+    auto nav = _episode->CreateNavigationIfMissing();
+    nav->SetPedestriansSeed(seed);
   }
 
   // ===========================================================================
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 69b3c04d4..e73407287 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/Debug.h"
+#include "carla/Logging.h"
 #include "carla/Memory.h"
 #include "carla/NonCopyable.h"
 #include "carla/client/Actor.h"
@@ -14,12 +15,12 @@
 #include "carla/client/TrafficLight.h"
 #include "carla/client/Vehicle.h"
 #include "carla/client/Walker.h"
+#include "carla/client/World.h"
 #include "carla/client/WorldSnapshot.h"
 #include "carla/client/detail/ActorFactory.h"
 #include "carla/client/detail/Client.h"
 #include "carla/client/detail/Episode.h"
 #include "carla/client/detail/EpisodeProxy.h"
-#include "carla/client/detail/WalkerNavigation.h"
 #include "carla/profiler/LifetimeProfiled.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehicleLightStateList.h"
@@ -40,6 +41,7 @@ namespace client {
   class Map;
   class Sensor;
   class WalkerAIController;
+  class WalkerNavigation;
 
 namespace detail {
 
@@ -93,11 +95,13 @@ namespace detail {
     /// @{
 
     /// @pre Cannot be called previous to GetCurrentEpisode.
-    auto GetCurrentEpisodeId() const {
+    auto GetCurrentEpisodeId() {
+      GetReadyCurrentEpisode();
       DEBUG_ASSERT(_episode != nullptr);
       return _episode->GetId();
     }
 
+    void GetReadyCurrentEpisode();
     EpisodeProxy GetCurrentEpisode();
 
     /// @}
@@ -106,6 +110,16 @@ namespace detail {
     // =========================================================================
     /// @{
 
+    World GetWorld() {
+      return World{GetCurrentEpisode()};
+    }
+
+    /// @}
+    // =========================================================================
+    /// @name World snapshot
+    // =========================================================================
+    /// @{
+
     WorldSnapshot GetWorldSnapshot() const {
       DEBUG_ASSERT(_episode != nullptr);
       return WorldSnapshot{_episode->GetState()};
@@ -284,16 +298,16 @@ namespace detail {
     // =========================================================================
     /// @{
 
+    std::shared_ptr<WalkerNavigation> GetNavigation();
+
+    void NavigationTick();
+
     void RegisterAIController(const WalkerAIController &controller);
 
     void UnregisterAIController(const WalkerAIController &controller);
 
     boost::optional<geom::Location> GetRandomLocationFromNavigation();
 
-    std::shared_ptr<WalkerNavigation> GetNavigation() {
-      return _episode->GetNavigation();
-    }
-
     void SetPedestriansCrossFactor(float percentage);
 
     void SetPedestriansSeed(unsigned int seed);
@@ -346,6 +360,11 @@ namespace detail {
         GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit);
 
     bool DestroyActor(Actor &actor);
+    
+    bool DestroyActor(ActorId actor_id)
+    {
+      return _client.DestroyActor(actor_id);
+    }
 
     ActorSnapshot GetActorSnapshot(ActorId actor_id) const {
       DEBUG_ASSERT(_episode != nullptr);
@@ -435,10 +454,18 @@ namespace detail {
       _client.SetActorCollisions(actor.GetId(), enabled);
     }
 
+    void SetActorCollisions(ActorId actor_id, bool enabled) {
+      _client.SetActorCollisions(actor_id, enabled);
+    }
+
     void SetActorDead(Actor &actor) {
       _client.SetActorDead(actor.GetId());
     }
 
+    void SetActorDead(ActorId actor_id) {
+      _client.SetActorDead(actor_id);
+    }
+
     void SetActorEnableGravity(Actor &actor, bool enabled) {
       _client.SetActorEnableGravity(actor.GetId(), enabled);
     }
diff --git a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
index 87f934e98..de3568a7d 100644
--- a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
+++ b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
@@ -9,6 +9,7 @@
 #include "carla/client/detail/Client.h"
 #include "carla/client/detail/Episode.h"
 #include "carla/client/detail/EpisodeState.h"
+#include "carla/client/detail/Simulator.h"
 #include "carla/nav/Navigation.h"
 #include "carla/rpc/Command.h"
 #include "carla/rpc/DebugShape.h"
@@ -20,11 +21,12 @@ namespace carla {
 namespace client {
 namespace detail {
 
-  WalkerNavigation::WalkerNavigation(Client &client) : _client(client), _next_check_index(0) {
+  WalkerNavigation::WalkerNavigation(std::weak_ptr<Simulator> simulator) : _simulator(simulator), _next_check_index(0) {
+    _nav.SetSimulator(simulator);
     // Here call the server to retrieve the navmesh data.
-    auto files = _client.GetRequiredFiles("Nav");
+    auto files = _simulator.lock()->GetRequiredFiles("Nav");
     if (!files.empty()) {
-      _nav.Load(_client.GetCacheFile(files[0]));
+      _nav.Load(_simulator.lock()->GetCacheFile(files[0], true));
     }
   }
 
@@ -57,7 +59,7 @@ namespace detail {
         commands.emplace_back(Cmd::ApplyWalkerState{ handle.walker, trans, speed });
       }
     }
-    _client.ApplyBatchSync(std::move(commands), false);
+    _simulator.lock()->ApplyBatchSync(std::move(commands), false);
     
     // check if any agent has been killed
     bool alive;
@@ -65,12 +67,12 @@ namespace detail {
       // get the agent state
       if (_nav.IsWalkerAlive(handle.walker, alive)) {
         if (!alive) {
-          _client.SetActorCollisions(handle.walker, true);
-          _client.SetActorDead(handle.walker);
+          _simulator.lock()->SetActorCollisions(handle.walker, true);
+          _simulator.lock()->SetActorDead(handle.walker);
           // remove from the crowd
           _nav.RemoveAgent(handle.walker);
           // destroy the controller
-          _client.DestroyActor(handle.controller);
+          _simulator.lock()->DestroyActor(handle.controller);
           // unregister from list
           UnregisterWalker(handle.walker, handle.controller);
         }
@@ -89,7 +91,7 @@ namespace detail {
       // remove from the crowd
       _nav.RemoveAgent(walkers[_next_check_index].walker);
       // destroy the controller
-      _client.DestroyActor(walkers[_next_check_index].controller);
+      _simulator.lock()->DestroyActor(walkers[_next_check_index].controller);
       // unregister from list
       UnregisterWalker(walkers[_next_check_index].walker, walkers[_next_check_index].controller);
     }
@@ -148,19 +150,19 @@ namespace detail {
           // line 1
           line1.primitive = carla::rpc::DebugShape::Line {p1, p2, 0.2f};
           line1.color = { 0, 255, 0 };
-          _client.DrawDebugShape(line1);
+          _simulator.lock()->DrawDebugShape(line1);
           // line 2
           line1.primitive = carla::rpc::DebugShape::Line {p2, p3, 0.2f};
           line1.color = { 255, 0, 0 };
-          _client.DrawDebugShape(line1);
+          _simulator.lock()->DrawDebugShape(line1);
           // line 3
           line1.primitive = carla::rpc::DebugShape::Line {p3, p4, 0.2f};
           line1.color = { 0, 0, 255 };
-          _client.DrawDebugShape(line1);
+          _simulator.lock()->DrawDebugShape(line1);
           // line 4
           line1.primitive = carla::rpc::DebugShape::Line {p4, p1, 0.2f};
           line1.color = { 255, 255, 0 };
-          _client.DrawDebugShape(line1);
+          _simulator.lock()->DrawDebugShape(line1);
         }
       }
 
@@ -179,7 +181,7 @@ namespace detail {
             text.persistent_lines = false;
             text.primitive = carla::rpc::DebugShape::String {p1, out.str(), false};
             text.color = { 0, 255, 0 };
-            _client.DrawDebugShape(text);
+            _simulator.lock()->DrawDebugShape(text);
           }
         }
       }
diff --git a/LibCarla/source/carla/client/detail/WalkerNavigation.h b/LibCarla/source/carla/client/detail/WalkerNavigation.h
index 6e6d654c6..5c2aadfd1 100644
--- a/LibCarla/source/carla/client/detail/WalkerNavigation.h
+++ b/LibCarla/source/carla/client/detail/WalkerNavigation.h
@@ -10,7 +10,6 @@
 #include "carla/nav/Navigation.h"
 #include "carla/NonCopyable.h"
 #include "carla/client/Timestamp.h"
-#include "carla/client/detail/EpisodeProxy.h"
 #include "carla/rpc/ActorId.h"
 
 #include <memory>
@@ -19,16 +18,16 @@ namespace carla {
 namespace client {
 namespace detail {
 
-  class Client;
   class Episode;
   class EpisodeState;
+  class Simulator;
 
   class WalkerNavigation
     : public std::enable_shared_from_this<WalkerNavigation>,
     private NonCopyable {
   public:
 
-    explicit WalkerNavigation(Client & client);
+    explicit WalkerNavigation(std::weak_ptr<Simulator> simulator);
 
     void RegisterWalker(ActorId walker_id, ActorId controller_id) {
       // add to list
@@ -91,7 +90,7 @@ namespace detail {
 
   private:
 
-    Client &_client;
+    std::weak_ptr<Simulator> _simulator;
 
     unsigned long _next_check_index;
 
diff --git a/LibCarla/source/carla/geom/Location.h b/LibCarla/source/carla/geom/Location.h
index 162243ab5..1ce3fcecf 100644
--- a/LibCarla/source/carla/geom/Location.h
+++ b/LibCarla/source/carla/geom/Location.h
@@ -41,6 +41,10 @@ namespace geom {
     // -- Other methods --------------------------------------------------------
     // =========================================================================
 
+    auto DistanceSquared(const Location &loc) const {
+      return Math::DistanceSquared(*this, loc);
+    }
+
     auto Distance(const Location &loc) const {
       return Math::Distance(*this, loc);
     }
diff --git a/LibCarla/source/carla/nav/Navigation.cpp b/LibCarla/source/carla/nav/Navigation.cpp
index 3cab1a370..1fc41cf2b 100644
--- a/LibCarla/source/carla/nav/Navigation.cpp
+++ b/LibCarla/source/carla/nav/Navigation.cpp
@@ -67,6 +67,13 @@ namespace nav {
     dtFreeNavMesh(_nav_mesh);
   }
 
+  // reference to the simulator to access API functions
+  void Navigation::SetSimulator(std::weak_ptr<carla::client::detail::Simulator> simulator)
+  {
+    _simulator = simulator;
+    _walker_manager.SetSimulator(simulator);
+  }
+
   // set the seed to use with random numbers
   void Navigation::SetSeed(unsigned int seed) {
     srand(seed);
diff --git a/LibCarla/source/carla/nav/Navigation.h b/LibCarla/source/carla/nav/Navigation.h
index f01b7e12e..c04bcf679 100644
--- a/LibCarla/source/carla/nav/Navigation.h
+++ b/LibCarla/source/carla/nav/Navigation.h
@@ -71,6 +71,8 @@ namespace nav {
     bool GetAgentRoute(ActorId id, carla::geom::Location from, carla::geom::Location to,
     std::vector<carla::geom::Location> &path, std::vector<unsigned char> &area);
 
+    /// reference to the simulator to access API functions
+    void SetSimulator(std::weak_ptr<carla::client::detail::Simulator> simulator);
     /// set the seed to use with random numbers
     void SetSeed(unsigned int seed);
     /// create the crowd object
@@ -140,6 +142,8 @@ namespace nav {
     /// walker manager for the route planning with events
     WalkerManager _walker_manager;
 
+    std::weak_ptr<carla::client::detail::Simulator> _simulator;
+    
     mutable std::mutex _mutex;
 
     float _probability_crossing { 0.0f };
diff --git a/LibCarla/source/carla/nav/WalkerEvent.cpp b/LibCarla/source/carla/nav/WalkerEvent.cpp
index 0fa6265fc..9a31f8a0c 100644
--- a/LibCarla/source/carla/nav/WalkerEvent.cpp
+++ b/LibCarla/source/carla/nav/WalkerEvent.cpp
@@ -4,10 +4,10 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-#include "carla/Logging.h"
 #include "carla/nav/Navigation.h"
 #include "carla/nav/WalkerManager.h"
 #include "carla/nav/WalkerEvent.h"
+#include "carla/rpc/TrafficLightState.h"
 
 namespace carla {
 namespace nav {
@@ -30,12 +30,27 @@ namespace nav {
         if (event.time <= 0.0) {
             return EventResult::TimeOut;
         } else {
-            // calculate the direction to look for vehicles
             carla::geom::Location currentUnrealPos;
-            carla::geom::Location crosswalkEnd;
-            carla::geom::Location direction;
+            _manager->GetNavigation()->PauseAgent(_id, true);
             _manager->GetNavigation()->GetWalkerPosition(_id, currentUnrealPos);
+            // check if we need to check for a trafficlight there (only the first time)
+            if (event.check_for_trafficlight) {
+                event.actor = _manager->GetTrafficLightAffecting(currentUnrealPos);
+                event.check_for_trafficlight = false;
+            }
+            // check if we need to wait for a trafficlight
+            if (event.actor) {
+                auto state = event.actor->GetState();
+                if (state == carla::rpc::TrafficLightState::Green || 
+                    state == carla::rpc::TrafficLightState::Yellow) {
+                    return EventResult::Continue;
+                }
+            }
+            _manager->GetNavigation()->PauseAgent(_id, false);
+            // calculate the direction to look for vehicles
+            carla::geom::Location crosswalkEnd;
             _manager->GetWalkerCrosswalkEnd(_id, crosswalkEnd);
+            carla::geom::Location direction;
             direction.x = crosswalkEnd.x - currentUnrealPos.x;
             direction.y = crosswalkEnd.y - currentUnrealPos.y;
             direction.z = crosswalkEnd.z - currentUnrealPos.z;
diff --git a/LibCarla/source/carla/nav/WalkerEvent.h b/LibCarla/source/carla/nav/WalkerEvent.h
index afc72e4e4..e4e55831e 100644
--- a/LibCarla/source/carla/nav/WalkerEvent.h
+++ b/LibCarla/source/carla/nav/WalkerEvent.h
@@ -44,7 +44,11 @@ namespace nav {
     /// event to pause and check for near vehicles
     struct WalkerEventStopAndCheck {
         double time;
-        WalkerEventStopAndCheck(double duration) : time(duration) {};
+        bool check_for_trafficlight;
+        SharedPtr<carla::client::TrafficLight> actor;
+        WalkerEventStopAndCheck(double duration) : time(duration), 
+                                                   check_for_trafficlight(true)                                                   
+                                                   {};
     };
 
     /// walker event variant
diff --git a/LibCarla/source/carla/nav/WalkerManager.cpp b/LibCarla/source/carla/nav/WalkerManager.cpp
index 3aa5484ce..abc3462f2 100644
--- a/LibCarla/source/carla/nav/WalkerManager.cpp
+++ b/LibCarla/source/carla/nav/WalkerManager.cpp
@@ -5,20 +5,38 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "carla/nav/WalkerManager.h"
+
+#include "carla/logging.h"
+#include "carla/client/ActorSnapshot.h"
+#include "carla/client/Waypoint.h"
+#include "carla/client/World.h"
+#include "carla/client/detail/Simulator.h"
 #include "carla/nav/Navigation.h"
+#include "carla/rpc/Actor.h"
 
 namespace carla {
 namespace nav {
 
     WalkerManager::WalkerManager() {
-        _nav = nullptr;
     }
 
     WalkerManager::~WalkerManager() {
     }
 
+    // assign the navigation module
+    void WalkerManager::SetNav(Navigation *nav) {
+        _nav = nav;
+    }
+
+    // reference to the simulator to access API functions
+    void WalkerManager::SetSimulator(std::weak_ptr<carla::client::detail::Simulator> simulator) {
+        _simulator = simulator;
+    }
+
 	// create a new walker route
     bool WalkerManager::AddWalker(ActorId id) {
+        GetAllTrafficLightWaypoints();
+
         WalkerInfo info;
         info.state = WALKER_IDLE;
 
@@ -148,7 +166,7 @@ namespace nav {
                 case CARLA_AREA_CROSSWALK:
                     // only if we come from a safe area (sidewalks, grass or crosswalk)
                     if (previous_area != CARLA_AREA_CROSSWALK && previous_area != CARLA_AREA_ROAD)
-                        info.route.emplace_back(WalkerEventStopAndCheck(5), std::move(path[i]), area[i]);
+                        info.route.emplace_back(WalkerEventStopAndCheck(60), std::move(path[i]), area[i]);
                     break;
 
                 default:
@@ -256,6 +274,53 @@ namespace nav {
         return boost::variant2::visit(visitor, rp.event);
     }
 
+    void WalkerManager::GetAllTrafficLightWaypoints() {
+        static bool AlreadyCalculated = false;
+        if (AlreadyCalculated) return;
+
+        // the world
+        carla::client::World world = _simulator.lock()->GetWorld();
+
+        _traffic_lights.clear();
+        std::vector<carla::rpc::Actor> actors = _simulator.lock()->GetAllTheActorsInTheEpisode();
+        for (auto actor : actors) {
+            carla::client::ActorSnapshot snapshot = _simulator.lock()->GetActorSnapshot(actor.id);
+            // check traffic lights only
+            if (actor.description.id == "traffic.traffic_light") {
+                // get the TL actor
+                SharedPtr<carla::client::TrafficLight> tl = boost::static_pointer_cast<carla::client::TrafficLight>(world.GetActor(actor.id));
+                // carla::logging::log("TL ", actor.id, " at (", snapshot.transform.location.x, ", ",  snapshot.transform.location.y,", ", snapshot.transform.location.z, ") has status ", (uint8_t) snapshot.state.traffic_light_data.state);
+                // get the waypoints where the TL affects
+                std::vector<SharedPtr<carla::client::Waypoint>> list = tl->GetStopWaypoints();
+                for (auto &way : list) {
+                    _traffic_lights.emplace_back(tl, way->GetTransform().location);
+                }
+            }
+        }
+        
+        AlreadyCalculated = true;
+    }
+
+    
+    // return the trafficlight affecting that position
+    SharedPtr<carla::client::TrafficLight> WalkerManager::GetTrafficLightAffecting(carla::geom::Location UnrealPos, float max_distance) {
+        float min_dist = std::numeric_limits<float>::infinity();
+        SharedPtr<carla::client::TrafficLight> actor;
+        for (auto &&item : _traffic_lights) {
+            float dist = UnrealPos.DistanceSquared(item.second);
+            if (dist < min_dist) {
+                min_dist = dist;
+                actor = item.first;
+            }
+        }
+        // if distance is not in the limit, then reject the trafficlight
+        if (max_distance < 0.0f || min_dist <= max_distance * max_distance) {
+            return actor;
+        } else {
+            return SharedPtr<carla::client::TrafficLight>();
+        }
+    }
+
 
 } // namespace nav
 } // namespace carla
diff --git a/LibCarla/source/carla/nav/WalkerManager.h b/LibCarla/source/carla/nav/WalkerManager.h
index c7a2b5652..71e796ee0 100644
--- a/LibCarla/source/carla/nav/WalkerManager.h
+++ b/LibCarla/source/carla/nav/WalkerManager.h
@@ -8,9 +8,12 @@
 
 #include "carla/NonCopyable.h"
 
+#include "carla/client/TrafficLight.h"
+#include "carla/client/World.h"
 #include "carla/geom/Location.h"
 #include "carla/nav/WalkerEvent.h"
 #include "carla/rpc/ActorId.h"
+#include "carla/rpc/TrafficLightState.h"
 
 namespace carla {
 namespace nav {
@@ -47,7 +50,10 @@ namespace nav {
     ~WalkerManager();
 
     /// assign the navigation module
-    void SetNav(Navigation *nav) { _nav = nav; };
+    void SetNav(Navigation *nav);
+
+    /// reference to the simulator to access API functions
+    void SetSimulator(std::weak_ptr<carla::client::detail::Simulator> simulator);
 
     /// create a new walker route
     bool AddWalker(ActorId id);
@@ -74,12 +80,19 @@ namespace nav {
     /// return the navigation object
     Navigation *GetNavigation() { return _nav; };
 
+    /// return the trafficlight affecting that position
+    SharedPtr<carla::client::TrafficLight> GetTrafficLightAffecting(carla::geom::Location UnrealPos, float max_distance = -1.0f);
+
     private:
 
+    void GetAllTrafficLightWaypoints();
+
     EventResult ExecuteEvent(ActorId id, WalkerInfo &info, double delta);
 
     std::unordered_map<ActorId, WalkerInfo> _walkers;
+    std::vector<std::pair<SharedPtr<carla::client::TrafficLight>, carla::geom::Location>> _traffic_lights;
     Navigation *_nav { nullptr };
+    std::weak_ptr<carla::client::detail::Simulator> _simulator;
   };
 
 } // namespace nav