diff --git a/CHANGELOG.md b/CHANGELOG.md
index f4672927e..4b307d469 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,7 +1,14 @@
 ## Latest Changes
  * Prevent from segfault on failing SignalReference identification when loading OpenDrive files
-   * Added vehicle doors to the recorder
+ * Added vehicle doors to the recorder
  * Added functions to get actor' components transform
+ * Added posibility to Digital Twins to work with local files (osm and xodr)
+ * Enable proper material merging for Building in Digital Twins
+ * Added functions to get actor' bones transforms
+ * Added functions to get actor' bones and components names
+ * Added functions to get actor' sockets transforms
+ * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
+ * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
 
 ## CARLA 0.9.15
 
diff --git a/Docs/build_faq.md b/Docs/build_faq.md
index 27ce114dc..07dcc4ada 100644
--- a/Docs/build_faq.md
+++ b/Docs/build_faq.md
@@ -365,7 +365,7 @@ CARLA forum</a>
 
 >In Windows it will be the default Python version for:
 
->       py -3 --version
+>       python --version
 
 >Make sure you are running your scripts with the version of Python that corresponds to your `.egg` file.
 >In Linux, you may also need to set your Python path to point to the CARLA `.egg`. To do this, run the following command:
diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp
index cfddf041b..0d2b7f962 100644
--- a/LibCarla/source/carla/client/Actor.cpp
+++ b/LibCarla/source/carla/client/Actor.cpp
@@ -40,6 +40,30 @@ namespace client {
     return GetEpisode().Lock()->GetActorComponentRelativeTransform(*this, componentName);
   }
 
+  std::vector<geom::Transform> Actor::GetBoneWorldTransforms() const {
+    return GetEpisode().Lock()->GetActorBoneWorldTransforms(*this);
+  }
+
+  std::vector<geom::Transform> Actor::GetBoneRelativeTransforms() const {
+    return GetEpisode().Lock()->GetActorBoneRelativeTransforms(*this);
+  }
+
+  std::vector<std::string> Actor::GetComponentNames() const {
+    return GetEpisode().Lock()->GetActorComponentNames(*this);
+  }
+
+  std::vector<std::string> Actor::GetBoneNames() const {
+    return GetEpisode().Lock()->GetActorBoneNames(*this);
+  } 
+
+  std::vector<geom::Transform> Actor::GetSocketWorldTransforms() const {
+    return GetEpisode().Lock()->GetActorSocketWorldTransforms(*this);
+  }
+
+  std::vector<geom::Transform> Actor::GetSocketRelativeTransforms() const {
+    return GetEpisode().Lock()->GetActorSocketRelativeTransforms(*this);
+  }
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }
diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h
index 79d757468..4afd48d4a 100644
--- a/LibCarla/source/carla/client/Actor.h
+++ b/LibCarla/source/carla/client/Actor.h
@@ -64,6 +64,18 @@ namespace client {
 
     geom::Transform GetComponentRelativeTransform(const std::string componentName) const;
 
+    std::vector<geom::Transform> GetBoneWorldTransforms() const;
+
+    std::vector<geom::Transform> GetBoneRelativeTransforms() const;
+
+    std::vector<std::string> GetComponentNames() const; 
+
+    std::vector<std::string> GetBoneNames() const;
+
+    std::vector<geom::Transform> GetSocketWorldTransforms() const;
+
+    std::vector<geom::Transform> GetSocketRelativeTransforms() const;
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 
diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp
index 2855f7f1d..cdda8a513 100644
--- a/LibCarla/source/carla/client/World.cpp
+++ b/LibCarla/source/carla/client/World.cpp
@@ -119,17 +119,19 @@ namespace client {
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent_actor,
-      rpc::AttachmentType attachment_type) {
-    return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type);
+      rpc::AttachmentType attachment_type,
+      const std::string& socket_name) {
+    return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type, GarbageCollectionPolicy::Inherit, socket_name);
   }
 
   SharedPtr<Actor> World::TrySpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent_actor,
-      rpc::AttachmentType attachment_type) noexcept {
+      rpc::AttachmentType attachment_type,
+      const std::string& socket_name) noexcept {
     try {
-      return SpawnActor(blueprint, transform, parent_actor, attachment_type);
+      return SpawnActor(blueprint, transform, parent_actor, attachment_type, socket_name);
     } catch (const std::exception &) {
       return nullptr;
     }
diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h
index 003fadb26..d8ba32e3e 100644
--- a/LibCarla/source/carla/client/World.h
+++ b/LibCarla/source/carla/client/World.h
@@ -29,6 +29,7 @@
 #include "carla/rpc/Texture.h"
 #include "carla/rpc/MaterialParameter.h"
 
+#include <string>
 #include <boost/optional.hpp>
 
 namespace carla {
@@ -112,7 +113,8 @@ namespace client {
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,
         Actor *parent = nullptr,
-        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid);
+        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
+        const std::string& socket_name = "");
 
     /// Same as SpawnActor but return nullptr on failure instead of throwing an
     /// exception.
@@ -120,7 +122,8 @@ namespace client {
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,
         Actor *parent = nullptr,
-        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid) noexcept;
+        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
+        const std::string& socket_name = "") noexcept;
 
     /// Block calling thread until a world tick is received.
     WorldSnapshot WaitForTick(time_duration timeout) const;
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 2cf28c7ef..edb148517 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -326,11 +326,12 @@ namespace detail {
     return _pimpl->CallAndWait<rpc::Actor>("spawn_actor", description, transform);
   }
 
-  rpc::Actor Client::SpawnActorWithParent(
+    rpc::Actor Client::SpawnActorWithParent(
       const rpc::ActorDescription &description,
       const geom::Transform &transform,
       rpc::ActorId parent,
-      rpc::AttachmentType attachment_type) {
+      rpc::AttachmentType attachment_type,
+      const std::string& socket_name) {
 
       if (attachment_type == rpc::AttachmentType::SpringArm ||
           attachment_type == rpc::AttachmentType::SpringArmGhost)
@@ -348,7 +349,8 @@ namespace detail {
         description,
         transform,
         parent,
-        attachment_type);
+        attachment_type,
+        socket_name);
   }
 
   bool Client::DestroyActor(rpc::ActorId actor) {
@@ -416,6 +418,36 @@ namespace detail {
     return _pimpl->CallAndWait<geom::Transform>("get_actor_component_relative_transform", actor, componentName);
   }
 
+  std::vector<geom::Transform> Client::GetActorBoneWorldTransforms(rpc::ActorId actor) {
+    using return_t = std::vector<geom::Transform>;
+    return _pimpl->CallAndWait<return_t>("get_actor_bone_world_transforms", actor);
+  }
+
+  std::vector<geom::Transform> Client::GetActorBoneRelativeTransforms(rpc::ActorId actor) {
+    using return_t = std::vector<geom::Transform>;
+    return _pimpl->CallAndWait<return_t>("get_actor_bone_relative_transforms", actor);
+  }
+
+  std::vector<std::string> Client::GetActorComponentNames(rpc::ActorId actor) {
+    using return_t = std::vector<std::string>;
+    return _pimpl->CallAndWait<return_t>("get_actor_component_names", actor);
+  }
+
+  std::vector<std::string> Client::GetActorBoneNames(rpc::ActorId actor) {
+    using return_t = std::vector<std::string>;
+    return _pimpl->CallAndWait<return_t>("get_actor_bone_names", actor);
+  }  
+
+  std::vector<geom::Transform> Client::GetActorSocketWorldTransforms(rpc::ActorId actor) {
+    using return_t = std::vector<geom::Transform>;
+    return _pimpl->CallAndWait<return_t>("get_actor_socket_world_transforms", actor);
+  }
+
+  std::vector<geom::Transform> Client::GetActorSocketRelativeTransforms(rpc::ActorId actor) {
+    using return_t = std::vector<geom::Transform>;
+    return _pimpl->CallAndWait<return_t>("get_actor_socket_relative_transforms", actor);
+  }
+
   void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) {
     _pimpl->CallAndWait<void>("set_actor_simulate_physics", actor, enabled);
   }
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 0327adbb6..0eff68b6e 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -88,7 +88,6 @@ namespace detail {
 
     void DestroyTrafficManager(uint16_t port) const;
 
-
     void SetTimeout(time_duration timeout);
 
     time_duration GetTimeout() const;
@@ -180,7 +179,8 @@ namespace detail {
         const rpc::ActorDescription &description,
         const geom::Transform &transform,
         rpc::ActorId parent,
-        rpc::AttachmentType attachment_type);
+        rpc::AttachmentType attachment_type,
+        const std::string& socket_name = "");
 
     bool DestroyActor(rpc::ActorId actor);
 
@@ -241,6 +241,24 @@ namespace detail {
         rpc::ActorId actor,
         const std::string componentName);
 
+    std::vector<geom::Transform> GetActorBoneWorldTransforms(
+        rpc::ActorId actor);
+    
+    std::vector<geom::Transform> GetActorBoneRelativeTransforms(
+        rpc::ActorId actor);
+
+    std::vector<std::string> GetActorComponentNames(
+        rpc::ActorId actor);         
+
+    std::vector<std::string> GetActorBoneNames(
+        rpc::ActorId actor);
+
+    std::vector<geom::Transform> GetActorSocketWorldTransforms(
+        rpc::ActorId actor);
+
+    std::vector<geom::Transform> GetActorSocketRelativeTransforms(
+        rpc::ActorId actor);
+
     void SetActorSimulatePhysics(
         rpc::ActorId actor,
         bool enabled);
diff --git a/LibCarla/source/carla/client/detail/Simulator.cpp b/LibCarla/source/carla/client/detail/Simulator.cpp
index ec2fbfae3..28eb8be68 100644
--- a/LibCarla/source/carla/client/detail/Simulator.cpp
+++ b/LibCarla/source/carla/client/detail/Simulator.cpp
@@ -342,19 +342,21 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
   // -- General operations with actors -----------------------------------------
   // ===========================================================================
 
-  SharedPtr<Actor> Simulator::SpawnActor(
+    SharedPtr<Actor> Simulator::SpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent,
       rpc::AttachmentType attachment_type,
-      GarbageCollectionPolicy gc) {
+      GarbageCollectionPolicy gc,
+      const std::string& socket_name) {
     rpc::Actor actor;
     if (parent != nullptr) {
       actor = _client.SpawnActorWithParent(
           blueprint.MakeActorDescription(),
           transform,
           parent->GetId(),
-          attachment_type);
+          attachment_type,
+          socket_name);
     } else {
       actor = _client.SpawnActor(
           blueprint.MakeActorDescription(),
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 76981d4e3..5f8a2ec06 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -357,7 +357,8 @@ namespace detail {
         const geom::Transform &transform,
         Actor *parent = nullptr,
         rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
-        GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit);
+        GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit,
+        const std::string& socket_name = "");
 
     bool DestroyActor(Actor &actor);
 
@@ -446,6 +447,30 @@ namespace detail {
       return _client.GetActorComponentRelativeTransform(actor.GetId(), componentName);
     }
 
+    std::vector<geom::Transform> GetActorBoneWorldTransforms(const Actor &actor) {
+      return _client.GetActorBoneWorldTransforms(actor.GetId());
+    }
+
+    std::vector<geom::Transform> GetActorBoneRelativeTransforms(const Actor &actor) {
+      return _client.GetActorBoneRelativeTransforms(actor.GetId());
+    }
+
+    std::vector<std::string> GetActorComponentNames(const Actor &actor) {
+      return _client.GetActorComponentNames(actor.GetId());
+    }
+
+    std::vector<std::string> GetActorBoneNames(const Actor &actor) {
+      return _client.GetActorBoneNames(actor.GetId());
+    }     
+
+    std::vector<geom::Transform> GetActorSocketWorldTransforms(const Actor &actor) {
+      return _client.GetActorSocketWorldTransforms(actor.GetId());
+    }
+
+    std::vector<geom::Transform> GetActorSocketRelativeTransforms(const Actor &actor) {
+      return _client.GetActorSocketRelativeTransforms(actor.GetId());
+    }
+
     void SetActorLocation(Actor &actor, const geom::Location &location) {
       _client.SetActorLocation(actor.GetId(), location);
     }
diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp
index 70bedbeee..282452c66 100644
--- a/LibCarla/source/carla/road/Map.cpp
+++ b/LibCarla/source/carla/road/Map.cpp
@@ -1238,7 +1238,11 @@ namespace road {
                 geom::Transform lanetransform = lane->ComputeTransform(s_current);
                 geom::Transform treeTransform(treeposition, lanetransform.rotation);
                 const carla::road::element::RoadInfoSpeed* roadinfo = lane->GetInfo<carla::road::element::RoadInfoSpeed>(s_current);
-                transforms.push_back(std::make_pair(treeTransform,roadinfo->GetType()));
+                if(roadinfo){
+                  transforms.push_back(std::make_pair(treeTransform, roadinfo->GetType()));
+                }else{
+                  transforms.push_back(std::make_pair(treeTransform, "urban"));
+                }
               }
               s_current += distancebetweentrees;
             }
diff --git a/LibCarla/source/carla/rpc/Command.h b/LibCarla/source/carla/rpc/Command.h
index 299c8ad0b..663654e88 100644
--- a/LibCarla/source/carla/rpc/Command.h
+++ b/LibCarla/source/carla/rpc/Command.h
@@ -10,6 +10,7 @@
 #include "carla/MsgPackAdaptors.h"
 #include "carla/geom/Transform.h"
 #include "carla/rpc/ActorDescription.h"
+#include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/ActorId.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehicleAckermannControl.h"
@@ -18,6 +19,8 @@
 #include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/WalkerControl.h"
 
+#include <string>
+
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable:4583)
@@ -59,11 +62,19 @@ namespace rpc {
         : description(std::move(description)),
           transform(transform),
           parent(parent) {}
+      SpawnActor(ActorDescription description, const geom::Transform &transform, ActorId parent, AttachmentType attachment_type, const std::string& bone)
+        : description(std::move(description)),
+          transform(transform),
+          parent(parent),
+          attachment_type(attachment_type),
+          socket_name(bone) {}
       ActorDescription description;
       geom::Transform transform;
       boost::optional<ActorId> parent;
+      AttachmentType attachment_type;
+      std::string socket_name;
       std::vector<Command> do_after;
-      MSGPACK_DEFINE_ARRAY(description, transform, parent, do_after);
+      MSGPACK_DEFINE_ARRAY(description, transform, parent, attachment_type, socket_name, do_after);
     };
 
     struct DestroyActor : CommandBase<DestroyActor> {
diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py
index 093749d5a..44e6d0351 100644
--- a/PythonAPI/carla/agents/navigation/basic_agent.py
+++ b/PythonAPI/carla/agents/navigation/basic_agent.py
@@ -345,12 +345,14 @@ class BasicAgent(object):
                 return None
 
             return Polygon(route_bb)
-
+      
         if self._ignore_vehicles:
             return (False, None, -1)
 
-        if not vehicle_list:
+        if vehicle_list is None:
             vehicle_list = self._world.get_actors().filter("*vehicle*")
+        if len(vehicle_list) == 0:
+            return (False, None, -1)
 
         if not max_distance:
             max_distance = self._base_vehicle_threshold
diff --git a/PythonAPI/carla/source/libcarla/Actor.cpp b/PythonAPI/carla/source/libcarla/Actor.cpp
index 9686bb735..dda9d58a4 100644
--- a/PythonAPI/carla/source/libcarla/Actor.cpp
+++ b/PythonAPI/carla/source/libcarla/Actor.cpp
@@ -115,6 +115,12 @@ void export_actor() {
       .def("get_acceleration", &cc::Actor::GetAcceleration)
       .def("get_component_world_transform", &cc::Actor::GetComponentWorldTransform, (arg("component_name")))
       .def("get_component_relative_transform", &cc::Actor::GetComponentRelativeTransform, (arg("component_name")))
+      .def("get_bone_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetBoneWorldTransforms))
+      .def("get_bone_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetBoneRelativeTransforms))
+      .def("get_component_names", CALL_RETURNING_LIST(cc::Actor,GetComponentNames))
+      .def("get_bone_names", CALL_RETURNING_LIST(cc::Actor,GetBoneNames))
+      .def("get_socket_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketWorldTransforms))
+      .def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms))      
       .def("set_location", &cc::Actor::SetLocation, (arg("location")))
       .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
       .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))
diff --git a/PythonAPI/carla/source/libcarla/Commands.cpp b/PythonAPI/carla/source/libcarla/Commands.cpp
index 7fd5166da..2e33c628c 100644
--- a/PythonAPI/carla/source/libcarla/Commands.cpp
+++ b/PythonAPI/carla/source/libcarla/Commands.cpp
@@ -82,9 +82,15 @@ void export_commands() {
         "__init__",
         &command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr>,
         (arg("blueprint"), arg("transform"), arg("parent")))
+    .def(
+        "__init__",
+        &command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr, cr::AttachmentType, std::string>,
+        (arg("blueprint"), arg("transform"), arg("parent"), arg("attachment_type"), arg("socket_name")))
     .def(init<cr::Command::SpawnActor>())
     .def_readwrite("transform", &cr::Command::SpawnActor::transform)
     .def_readwrite("parent_id", &cr::Command::SpawnActor::parent)
+    .def_readwrite("attachment_type", &cr::Command::SpawnActor::attachment_type)
+    .def_readwrite("socket_name", &cr::Command::SpawnActor::socket_name)
     .def("then", &command_impl::Then, (arg("command")))
   ;
 
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index 6f07518ba..0c59ebf32 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -11,6 +11,8 @@
 #include <carla/rpc/EnvironmentObject.h>
 #include <carla/rpc/ObjectLabel.h>
 
+#include <string>
+
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 
 namespace carla {
@@ -293,15 +295,17 @@ void export_world() {
         const cc::ActorBlueprint &blueprint, \
         const cg::Transform &transform, \
         cc::Actor *parent, \
-        cr::AttachmentType attachment_type) { \
+        cr::AttachmentType attachment_type, \
+        const std::string& bone) { \
       carla::PythonUtil::ReleaseGIL unlock; \
-      return self.fn(blueprint, transform, parent, attachment_type); \
+      return self.fn(blueprint, transform, parent, attachment_type, bone); \
     }, \
     ( \
       arg("blueprint"), \
       arg("transform"), \
       arg("attach_to")=carla::SharedPtr<cc::Actor>(), \
-      arg("attachment_type")=cr::AttachmentType::Rigid)
+      arg("attachment_type")=cr::AttachmentType::Rigid, \
+      arg("bone")=std::string())
 
   class_<cc::World>("World", no_init)
     .add_property("id", &cc::World::GetId)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
index 5d2417ab1..2e4951021 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
@@ -105,7 +105,7 @@ bool UCarlaEpisode::LoadNewEpisode(const FString &MapString, bool ResetSettings)
     UGameplayStatics::OpenLevel(GetWorld(), *FinalPath, true);
     if (ResetSettings)
       ApplySettings(FEpisodeSettings{});
-    
+
     // send 'LOAD_MAP' command to all secondary servers (if any)
     if (bIsPrimaryServer)
     {
@@ -114,7 +114,7 @@ bool UCarlaEpisode::LoadNewEpisode(const FString &MapString, bool ResetSettings)
       {
         FCarlaEngine *CarlaEngine = GameInstance->GetCarlaEngine();
         auto SecondaryServer = CarlaEngine->GetSecondaryServer();
-        if (SecondaryServer->HasClientsConnected()) 
+        if (SecondaryServer->HasClientsConnected())
         {
           SecondaryServer->GetCommander().SendLoadMap(std::string(TCHAR_TO_UTF8(*FinalPath)));
         }
@@ -294,11 +294,12 @@ carla::rpc::Actor UCarlaEpisode::SerializeActor(AActor* Actor) const
 void UCarlaEpisode::AttachActors(
     AActor *Child,
     AActor *Parent,
-    EAttachmentType InAttachmentType)
+    EAttachmentType InAttachmentType,
+    const FString& SocketName)
 {
   Child->AddActorWorldOffset(FVector(CurrentMapOrigin));
 
-  UActorAttacher::AttachActors(Child, Parent, InAttachmentType);
+  UActorAttacher::AttachActors(Child, Parent, InAttachmentType, SocketName);
 
   if (bIsPrimaryServer)
   {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
index 14d078811..d1b820fea 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
@@ -245,7 +245,8 @@ public:
   void AttachActors(
       AActor *Child,
       AActor *Parent,
-      EAttachmentType InAttachmentType = EAttachmentType::Rigid);
+      EAttachmentType InAttachmentType = EAttachmentType::Rigid,
+      const FString& SocketName = "");
 
   /// @copydoc FActorDispatcher::DestroyActor(AActor*)
   UFUNCTION(BlueprintCallable)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index af6cbc658..7d06f0f81 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -9,6 +9,11 @@
 #include "Carla/Server/CarlaServerResponse.h"
 #include "Carla/Traffic/TrafficLightGroup.h"
 #include "EngineUtils.h"
+#include "Components/SkeletalMeshComponent.h"
+#include "Components/SkinnedMeshComponent.h"
+#include "Components/SceneComponent.h"
+#include "Engine/SkeletalMesh.h"
+#include "Engine/SkeletalMeshSocket.h"
 
 #include "Carla/OpenDrive/OpenDrive.h"
 #include "Carla/Util/DebugShapeDrawer.h"
@@ -706,7 +711,8 @@ void FCarlaServer::FPimpl::BindActions()
       cr::ActorDescription Description,
       const cr::Transform &Transform,
       cr::ActorId ParentId,
-      cr::AttachmentType InAttachmentType) -> R<cr::Actor>
+      cr::AttachmentType InAttachmentType,
+      const std::string& socket_name) -> R<cr::Actor>
   {
     REQUIRE_CARLA_EPISODE();
 
@@ -760,7 +766,8 @@ void FCarlaServer::FPimpl::BindActions()
       Episode->AttachActors(
           CarlaActor->GetActor(),
           ParentCarlaActor->GetActor(),
-          static_cast<EAttachmentType>(InAttachmentType));
+          static_cast<EAttachmentType>(InAttachmentType),
+          FString(socket_name.c_str()));
     }
     else
     {
@@ -1292,7 +1299,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
       TArray<UActorComponent*> Components;
       CarlaActor->GetActor()->GetComponents(Components);
 
-      USceneComponent* Component;
+      USceneComponent* Component = nullptr;
       for(auto Cmp : Components)
       {
         if(USceneComponent* SCMP = Cast<USceneComponent>(Cmp))
@@ -1336,7 +1343,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
       TArray<UActorComponent*> Components;
       CarlaActor->GetActor()->GetComponents(Components);
 
-      USceneComponent* Component;
+      USceneComponent* Component = nullptr;
       for(auto Cmp : Components)
       {
         if(USceneComponent* SCMP = Cast<USceneComponent>(Cmp))
@@ -1362,6 +1369,217 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
     }
   };
 
+  BIND_SYNC(get_actor_bone_world_transforms) << [this](
+      cr::ActorId ActorId) -> R<std::vector<cr::Transform>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_bone_world_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<FTransform> BoneWorldTransforms;
+      TArray<USkinnedMeshComponent*> SkinnedMeshComponents;
+      CarlaActor->GetActor()->GetComponents<USkinnedMeshComponent>(SkinnedMeshComponents);
+      if(!SkinnedMeshComponents[0])
+      {
+        return RespondError(
+            "get_actor_bone_relative_transforms",
+            ECarlaServerResponse::ComponentNotFound,
+            " Component Name: SkinnedMeshComponent ");
+      }
+      else
+      {
+        for(USkinnedMeshComponent* SkinnedMeshComponent : SkinnedMeshComponents)
+        {
+          const int32 NumBones = SkinnedMeshComponent->GetNumBones();
+          for (int32 BoneIndex = 0; BoneIndex < NumBones; ++BoneIndex)
+          {
+            FTransform WorldTransform = SkinnedMeshComponent->GetComponentTransform();
+            FTransform BoneTransform = SkinnedMeshComponent->GetBoneTransform(BoneIndex, WorldTransform);
+            BoneWorldTransforms.Add(BoneTransform);  
+          }
+        }
+        return MakeVectorFromTArray<cr::Transform>(BoneWorldTransforms);
+      }      
+    }
+  };
+
+  BIND_SYNC(get_actor_bone_relative_transforms) << [this](
+      cr::ActorId ActorId) -> R<std::vector<cr::Transform>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_bone_relative_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<FTransform> BoneRelativeTransforms;
+      TArray<USkinnedMeshComponent*> SkinnedMeshComponents;
+      CarlaActor->GetActor()->GetComponents<USkinnedMeshComponent>(SkinnedMeshComponents);
+      if(!SkinnedMeshComponents[0])
+      {
+        return RespondError(
+            "get_actor_bone_relative_transforms",
+            ECarlaServerResponse::ComponentNotFound,
+            " Component Name: SkinnedMeshComponent ");
+      }
+      else
+      {
+        for(USkinnedMeshComponent* SkinnedMeshComponent : SkinnedMeshComponents)
+        {
+          const int32 NumBones = SkinnedMeshComponent->GetNumBones();
+          for (int32 BoneIndex = 0; BoneIndex < NumBones; ++BoneIndex)
+          {
+            FTransform BoneTransform = SkinnedMeshComponent->GetBoneTransform(BoneIndex, FTransform::Identity);
+            BoneRelativeTransforms.Add(BoneTransform);  
+          }
+        }
+        return MakeVectorFromTArray<cr::Transform>(BoneRelativeTransforms);
+      }
+    }
+  };
+
+  BIND_SYNC(get_actor_component_names) << [this](
+      cr::ActorId ActorId) -> R<std::vector<std::string>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_names",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<UActorComponent*> Components;
+      CarlaActor->GetActor()->GetComponents(Components);
+      std::vector<std::string> ComponentNames;
+      for(auto Cmp : Components)
+      {
+        FString ComponentName = Cmp->GetName();
+        ComponentNames.push_back(TCHAR_TO_UTF8(*ComponentName));
+      }  
+      return ComponentNames; 
+    }
+  };
+
+  BIND_SYNC(get_actor_bone_names) << [this](
+      cr::ActorId ActorId) -> R<std::vector<std::string>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_relative_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      USkinnedMeshComponent* SkinnedMeshComponent = CarlaActor->GetActor()->FindComponentByClass<USkinnedMeshComponent>();
+      if(!SkinnedMeshComponent)   
+      {
+        return RespondError(
+            "get_actor_bone_relative_transforms",
+            ECarlaServerResponse::ComponentNotFound,
+            " Component Name: SkinnedMeshComponent ");    
+      }  
+      else
+      {
+        TArray<FName> BoneNames;
+        SkinnedMeshComponent->GetBoneNames(BoneNames);
+        TArray<std::string> StringBoneNames;
+        for (const FName& Name : BoneNames)
+        {
+          FString FBoneName = Name.ToString();
+          std::string StringBoneName = TCHAR_TO_UTF8(*FBoneName);
+          StringBoneNames.Add(StringBoneName);
+        }
+        return MakeVectorFromTArray<std::string>(StringBoneNames);
+      }
+    }
+  };
+
+  BIND_SYNC(get_actor_socket_world_transforms) << [this](
+      cr::ActorId ActorId) -> R<std::vector<cr::Transform>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_relative_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<FTransform> SocketWorldTransforms;
+      TArray<UActorComponent*> Components;
+      CarlaActor->GetActor()->GetComponents(Components);     
+      for(UActorComponent* ActorComponent : Components)
+      {
+        if(USceneComponent* SceneComponent = Cast<USceneComponent>(ActorComponent))
+        {
+          const TArray<FName>& SocketNames = SceneComponent->GetAllSocketNames();        
+          for (const FName& SocketName : SocketNames)
+          {
+            FTransform SocketTransform = SceneComponent->GetSocketTransform(SocketName);
+            SocketWorldTransforms.Add(SocketTransform);
+          }
+        }
+      }
+      return MakeVectorFromTArray<cr::Transform>(SocketWorldTransforms);   
+    }
+  };
+
+  BIND_SYNC(get_actor_socket_relative_transforms) << [this](
+      cr::ActorId ActorId) -> R<std::vector<cr::Transform>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_relative_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<FTransform> SocketRelativeTransforms;
+      TArray<UActorComponent*> Components;
+      CarlaActor->GetActor()->GetComponents(Components);     
+      for(UActorComponent* ActorComponent : Components)
+      {
+        if(USceneComponent* SceneComponent = Cast<USceneComponent>(ActorComponent))
+        {
+          const TArray<FName>& SocketNames = SceneComponent->GetAllSocketNames();        
+          for (const FName& SocketName : SocketNames)
+          {
+            FTransform SocketTransform = SceneComponent->GetSocketTransform(SocketName, ERelativeTransformSpace::RTS_Actor);
+            SocketRelativeTransforms.Add(SocketTransform);
+          }
+        }
+      }
+      return MakeVectorFromTArray<cr::Transform>(SocketRelativeTransforms);
+    }
+  };
+
   BIND_SYNC(get_physics_control) << [this](
       cr::ActorId ActorId) -> R<cr::VehiclePhysicsControl>
   {
@@ -2545,7 +2763,8 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
             c.description,
             c.transform,
             *c.parent,
-            cr::AttachmentType::Rigid) :
+            cr::AttachmentType::Rigid,
+            c.socket_name) :
         spawn_actor(c.description, c.transform);
         if (!result.HasError())
         {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp
index 56ca9185a..e0563522c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp
@@ -96,7 +96,8 @@ static void UActorAttacher_AttachActorsWithSpringArmGhost(
 void UActorAttacher::AttachActors(
     AActor *Child,
     AActor *Parent,
-    const EAttachmentType AttachmentType)
+    const EAttachmentType AttachmentType,
+    const FString& SocketName)
 {
   check(Child != nullptr);
   check(Parent != nullptr);
@@ -104,7 +105,7 @@ void UActorAttacher::AttachActors(
   switch (AttachmentType)
   {
     case EAttachmentType::Rigid:
-      Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform);
+      Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform, FName(*SocketName));
       break;
     case EAttachmentType::SpringArm:
       UActorAttacher_AttachActorsWithSpringArm(Child, Parent);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h
index 4f6d5d1dd..e95c24ae7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h
@@ -42,5 +42,5 @@ class CARLA_API UActorAttacher : public UBlueprintFunctionLibrary
 public:
 
   UFUNCTION(BlueprintCallable, Category="CARLA|Actor Attacher")
-  static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType);
+  static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType, const FString& SocketName = "");
 };
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/BP_OpenDriveToMap.uasset b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/BP_OpenDriveToMap.uasset
index b73e2caa5..94bee4e50 100644
Binary files a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/BP_OpenDriveToMap.uasset and b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/BP_OpenDriveToMap.uasset differ
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/Blueprints/BP_BuildingGenerator.uasset b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/Blueprints/BP_BuildingGenerator.uasset
index 165501747..0e6e56b65 100644
Binary files a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/Blueprints/BP_BuildingGenerator.uasset and b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/Blueprints/BP_BuildingGenerator.uasset differ
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/MapPreview/W_MapPreview.uasset b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/MapPreview/W_MapPreview.uasset
index 3014c4eed..d978ae881 100644
Binary files a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/MapPreview/W_MapPreview.uasset and b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/MapPreview/W_MapPreview.uasset differ
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/UW_OnRoadMainWidget.uasset b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/UW_OnRoadMainWidget.uasset
index d1c30094b..3ca4126ad 100644
Binary files a/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/UW_OnRoadMainWidget.uasset and b/Unreal/CarlaUE4/Plugins/CarlaTools/Content/OnroadMapGenerator/UW_OnRoadMainWidget.uasset differ
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp
index 8ee027793..a3049125b 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp
@@ -154,16 +154,32 @@ void UOpenDriveToMap::CreateMap()
     UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Map Name Is Empty") );
     return;
   }
-  if ( !IsValid(FileDownloader) )
+
+  if( !Url.IsEmpty() ) {
+    if ( !IsValid(FileDownloader) )
+    {
+      FileDownloader = NewObject<UCustomFileDownloader>();
+    }
+
+    FileDownloader->ResultFileName = MapName;
+    FileDownloader->Url = Url;
+
+    FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive );
+    FileDownloader->StartDownload();
+  }
+  else if(LocalFilePath.EndsWith(".xodr"))
   {
-    FileDownloader = NewObject<UCustomFileDownloader>();
+    ImportXODR();
+  }
+  else if(LocalFilePath.EndsWith(".osm"))
+  {
+    ImportOSM();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("URL and Local FilePath are Empty. URL: %s  Local FilePath: %s"), *Url, *LocalFilePath );
   }
 
-  FileDownloader->ResultFileName = MapName;
-  FileDownloader->Url = Url;
-
-  FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive );
-  FileDownloader->StartDownload();
 }
 
 void UOpenDriveToMap::CreateTerrain( const int MeshGridSize, const float MeshGridSectionSize)
@@ -490,7 +506,7 @@ void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& Param
   {
     GenerateRoadMesh(ParamCarlaMap, MinLocation, MaxLocation);
     GenerateLaneMarks(ParamCarlaMap, MinLocation, MaxLocation);
-    //GenerateSpawnPoints(ParamCarlaMap);
+    GenerateSpawnPoints(ParamCarlaMap, MinLocation, MaxLocation);
     CreateTerrain(12800, 256);
     GenerateTreePositions(ParamCarlaMap, MinLocation, MaxLocation);
     GenerationFinished(MinLocation, MaxLocation);
@@ -714,10 +730,14 @@ void UOpenDriveToMap::GenerateSpawnPoints( const boost::optional<carla::road::Ma
   for (const auto &Wp : Waypoints)
   {
     const FTransform Trans = ParamCarlaMap->ComputeTransform(Wp);
-    AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor<AVehicleSpawnPoint>();
-    Spawner->SetActorRotation(Trans.GetRotation());
-    Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight));
-    ActorsToMove.Add(Spawner);
+    if( Trans.GetLocation().X >= MinLocation.X && Trans.GetLocation().Y >= MinLocation.Y &&
+        Trans.GetLocation().X <= MaxLocation.X && Trans.GetLocation().Y <= MaxLocation.Y)
+    {
+      AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor<AVehicleSpawnPoint>();
+      Spawner->SetActorRotation(Trans.GetRotation());
+      Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight));
+      ActorsToMove.Add(Spawner);
+    }
   }
 }
 
@@ -878,6 +898,41 @@ bool UOpenDriveToMap::IsInRoad(
   return false;
 }
 
+void UOpenDriveToMap::ImportXODR(){
+  IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile();
+  FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".xodr";
+
+  if(FileManager.CopyFile(  *MyFileDestination, *LocalFilePath,
+                              EPlatformFileRead::None,
+                              EPlatformFileWrite::None))
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!"));
+    FilePath = MyFileDestination;
+    LoadMap();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local xodr file not copied: File not Copied!"));
+  }
+}
+
+void UOpenDriveToMap::ImportOSM(){
+  IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile();
+  FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".osm";
+
+  if(FileManager.CopyFile(  *MyFileDestination, *LocalFilePath,
+                              EPlatformFileRead::None,
+                              EPlatformFileWrite::None))
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!"));
+    ConvertOSMInOpenDrive();
+  }
+  else
+  {
+    UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local osm file not copied: File not Copied!"));
+  }
+}
+
 void UOpenDriveToMap::MoveActorsToSubLevels(TArray<AActor*> ActorsToMove)
 {
   AActor* QueryActor = UGameplayStatics::GetActorOfClass(
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h
index 2002c8275..115b456bb 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h
@@ -91,6 +91,9 @@ public:
   UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
   FString Url;
 
+  UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" )
+  FString LocalFilePath;
+
   UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Settings")
   FVector2D OriginGeoCoordinates;
 
@@ -213,6 +216,9 @@ private:
 
   void InitTextureData();
 
+  void ImportXODR();
+  void ImportOSM();
+
   UPROPERTY()
   UCustomFileDownloader* FileDownloader;
   UPROPERTY()
diff --git a/Util/BuildTools/BuildCarlaUE4.bat b/Util/BuildTools/BuildCarlaUE4.bat
index bae39a3a1..cb61ed5d2 100644
--- a/Util/BuildTools/BuildCarlaUE4.bat
+++ b/Util/BuildTools/BuildCarlaUE4.bat
@@ -155,10 +155,10 @@ if exist %OMNIVERSE_PLUGIN_FOLDER% (
 )
 
 if %USE_CARSIM% == true (
-    py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e
+    python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e
     set CARSIM_STATE="CarSim ON"
 ) else (
-    py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+    python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
     set CARSIM_STATE="CarSim OFF"
 )
 if %USE_CHRONO% == true (
diff --git a/Util/BuildTools/BuildPythonAPI.bat b/Util/BuildTools/BuildPythonAPI.bat
index cc8d92504..9812c8220 100644
--- a/Util/BuildTools/BuildPythonAPI.bat
+++ b/Util/BuildTools/BuildPythonAPI.bat
@@ -109,7 +109,7 @@ rem Build for Python 3
 rem
 if %BUILD_FOR_PYTHON3%==true (
     echo Building Python API for Python 3.
-    py -3 setup.py bdist_egg bdist_wheel
+    python setup.py bdist_egg bdist_wheel
     if %errorlevel% neq 0 goto error_build_wheel
 )
 
diff --git a/Util/BuildTools/Package.bat b/Util/BuildTools/Package.bat
index 6be833077..82f03da84 100644
--- a/Util/BuildTools/Package.bat
+++ b/Util/BuildTools/Package.bat
@@ -119,10 +119,10 @@ rem ============================================================================
 if %DO_PACKAGE%==true (
 
     if %USE_CARSIM% == true (
-        py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e
+        python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e
         echo CarSim ON > "%ROOT_PATH%Unreal/CarlaUE4/Config/CarSimConfig.ini"
     ) else (
-        py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
+        python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject"
         echo CarSim OFF > "%ROOT_PATH%Unreal/CarlaUE4/Config/CarSimConfig.ini"
     )
 
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index 0a46ae555..81a416d07 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -92,15 +92,30 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_}
 
     log "Retrieving boost."
+
+    start=$(date +%s)
     wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
+    end=$(date +%s)
+    echo "Elapsed Time downloading from boost webpage: $(($end-$start)) seconds"
+
     # try to use the backup boost we have in Jenkins
     if [ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [[ $(sha256sum "${BOOST_PACKAGE_BASENAME}.tar.gz") != "${BOOST_SHA256SUM}" ]] ; then
       log "Using boost backup"
+
+      start=$(date +%s)
       wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
+      end=$(date +%s)
+      echo "Elapsed Time downloading from boost carla backup in backblaze: $(($end-$start)) seconds"
+
     fi
 
     log "Extracting boost for Python ${PY_VERSION}."
+
+    start=$(date +%s)
     tar -xzf ${BOOST_PACKAGE_BASENAME}.tar.gz
+    end=$(date +%s)
+    echo "Elapsed Time Extracting boost for Python: $(($end-$start)) seconds"
+
     mkdir -p ${BOOST_BASENAME}-install/include
     mv ${BOOST_PACKAGE_BASENAME} ${BOOST_BASENAME}-source
 
@@ -166,8 +181,13 @@ else
 
   log "Retrieving rpclib."
 
+  start_download_time=$(date +%s)
+
   git clone -b ${RPCLIB_PATCH} https://github.com/carla-simulator/rpclib.git ${RPCLIB_BASENAME}-source
 
+  end_download_time=$(date +%s)
+
+  echo "Elapsed Time downloading rpclib: $(($end_download_time-$start_download_time)) seconds"
   log "Building rpclib with libc++."
 
   # rpclib does not use any cmake 3.9 feature.
@@ -234,8 +254,13 @@ else
 
   log "Retrieving Google Test."
 
+  start_download_time=$(date +%s)
+
   git clone --depth=1 -b release-${GTEST_VERSION} https://github.com/google/googletest.git ${GTEST_BASENAME}-source
 
+  end_download_time=$(date +%s)
+  echo "Elapsed Time downloading rpclib: $(($end-$start)) seconds"
+
   log "Building Google Test with libc++."
 
   mkdir -p ${GTEST_BASENAME}-libcxx-build
@@ -296,12 +321,15 @@ else
 
   log "Retrieving Recast & Detour"
 
-  git clone https://github.com/carla-simulator/recastnavigation.git ${RECAST_BASENAME}-source
+  start=$(date +%s)
+
+  git clone --depth 1 -b carla https://github.com/carla-simulator/recastnavigation.git ${RECAST_BASENAME}-source
+
+  end=$(date +%s)
+  echo "Elapsed Time downloading: $(($end-$start)) seconds"
 
   pushd ${RECAST_BASENAME}-source >/dev/null
 
-  git checkout carla
-
   popd >/dev/null
 
   log "Building Recast & Detour with libc++."
@@ -351,10 +379,18 @@ if [[ -d ${LIBPNG_INSTALL} ]] ; then
   log "Libpng already installed."
 else
   log "Retrieving libpng."
-  wget ${LIBPNG_REPO}
 
+  start=$(date +%s)
+  wget ${LIBPNG_REPO}
+  end=$(date +%s)
+  echo "Elapsed Time downloading libpng: $(($end-$start)) seconds"
+
+  start=$(date +%s)
   log "Extracting libpng."
   tar -xf libpng-${LIBPNG_VERSION}.tar.xz
+  end=$(date +%s)
+  echo "Elapsed Time Extracting libpng: $(($end-$start)) seconds"
+
   mv ${LIBPNG_BASENAME} ${LIBPNG_BASENAME}-source
 
   pushd ${LIBPNG_BASENAME}-source >/dev/null
@@ -388,16 +424,26 @@ if [[ -d ${XERCESC_INSTALL_DIR} &&  -d ${XERCESC_INSTALL_SERVER_DIR} ]] ; then
   log "Xerces-c already installed."
 else
   log "Retrieving xerces-c."
+  start=$(date +%s)
   wget ${XERCESC_REPO}
-
+  end=$(date +%s)
+  echo "Elapsed Time downloading from xerces repo: $(($end-$start)) seconds"
   # try to use the backup boost we have in Jenkins
   if [[ ! -f "${XERCESC_BASENAME}.tar.gz" ]] ; then
     log "Using xerces backup"
+    start=$(date +%s)
     wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${XERCESC_BASENAME}.tar.gz" || true
+    end=$(date +%s)
+    echo "Elapsed Time downloading from xerces backup: $(($end-$start)) seconds"
   fi
 
   log "Extracting xerces-c."
+
+  start=$(date +%s)
   tar -xzf ${XERCESC_BASENAME}.tar.gz
+  end=$(date +%s)
+  echo "Elapsed Time Extracting xerces-c: $(($end-$start)) seconds"
+
   mv ${XERCESC_BASENAME} ${XERCESC_SRC_DIR}
   mkdir -p ${XERCESC_INSTALL_DIR}
   mkdir -p ${XERCESC_SRC_DIR}/build
@@ -461,10 +507,18 @@ if [[ -d ${EIGEN_INSTALL_DIR} ]] ; then
   log "Eigen already installed."
 else
   log "Retrieving Eigen."
+
+  start=$(date +%s)
   wget ${EIGEN_REPO}
+  end=$(date +%s)
+  echo "Elapsed Time downloading from eigen repo: $(($end-$start)) seconds"
 
   log "Extracting Eigen."
+  start=$(date +%s)
   tar -xzf ${EIGEN_BASENAME}.tar.gz
+  end=$(date +%s)
+  echo "Elapsed Time Extracting EIGEN: $(($end-$start)) seconds"
+
   mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR}
   mkdir -p ${EIGEN_INCLUDE}/unsupported
   mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE}
@@ -496,10 +550,19 @@ if ${USE_CHRONO} ; then
     log "Eigen already installed."
   else
     log "Retrieving Eigen."
+
+    start=$(date +%s)
     wget ${EIGEN_REPO}
+    end=$(date +%s)
+    echo "Elapsed Time: $(($end-$start)) seconds"
 
     log "Extracting Eigen."
+
+    start=$(date +%s)
     tar -xzf ${EIGEN_BASENAME}.tar.gz
+    end=$(date +%s)
+    echo "Elapsed Time Extracting for Eigen: $(($end-$start)) seconds"
+
     mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR}
     mkdir -p ${EIGEN_INCLUDE}/unsupported
     mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE}
@@ -527,7 +590,10 @@ if ${USE_CHRONO} ; then
     log "chrono library already installed."
   else
     log "Retrieving chrono library."
+    start=$(date +%s)
     git clone --depth 1 --branch ${CHRONO_TAG} ${CHRONO_REPO} ${CHRONO_SRC_DIR}
+    end=$(date +%s)
+    echo "Elapsed Time dowloading chrono: $(($end-$start)) seconds"
 
     mkdir -p ${CHRONO_SRC_DIR}/build
 
@@ -574,10 +640,19 @@ if [[ -d ${SQLITE_INSTALL_DIR} ]] ; then
   log "Sqlite already installed."
 else
   log "Retrieving Sqlite3"
+
+  start=$(date +%s)
   wget ${SQLITE_REPO}
+  end=$(date +%s)
+  echo "Elapsed Time: $(($end-$start)) seconds"
 
   log "Extracting Sqlite3"
+
+  start=$(date +%s)
   tar -xzf ${SQLITE_TAR}
+  end=$(date +%s)
+  echo "Elapsed Time Extracting for SQlite: $(($end-$start)) seconds"
+
   mv ${SQLITE_VERSION} ${SQLITE_SOURCE_DIR}
 
   mkdir ${SQLITE_INSTALL_DIR}
@@ -621,10 +696,18 @@ if [[ -d ${PROJ_INSTALL_DIR} && -d ${PROJ_INSTALL_SERVER_DIR_FULL} ]] ; then
   log "PROJ already installed."
 else
   log "Retrieving PROJ"
+
+  start=$(date +%s)
   wget ${PROJ_REPO}
+  end=$(date +%s)
+  echo "Elapsed Time: $(($end-$start)) seconds"
 
   log "Extracting PROJ"
+  start=$(date +%s)
   tar -xzf ${PROJ_TAR}
+  end=$(date +%s)
+  echo "Elapsed Time Extracting for PROJ: $(($end-$start)) seconds"
+
   mv ${PROJ_VERSION} ${PROJ_SRC_DIR}
 
   mkdir -p ${PROJ_SRC_DIR}/build
@@ -692,10 +775,18 @@ if [[ -d ${PATCHELF_INSTALL_DIR} ]] ; then
   log "Patchelf already installed."
 else
   log "Retrieving patchelf"
+
+  start=$(date +%s)
   wget ${PATCHELF_REPO}
+  end=$(date +%s)
+  echo "Elapsed Time: $(($end-$start)) seconds"
 
   log "Extracting patchelf"
+  start=$(date +%s)
   tar -xzf ${PATCHELF_TAR}
+  end=$(date +%s)
+  echo "Elapsed Time Extracting patchelf: $(($end-$start)) seconds"
+
   mv patchelf-${PATCHELF_VERSION} ${PATCHELF_SOURCE_DIR}
 
   mkdir ${PATCHELF_INSTALL_DIR}
@@ -730,7 +821,12 @@ if ${USE_PYTORCH} ; then
   LIBTORCH_ZIPFILE=libtorch-shared-with-deps-1.11.0+cu113.zip
   LIBTORCH_REPO=https://download.pytorch.org/libtorch/cu113/libtorch-shared-with-deps-1.11.0%2Bcu113.zip
   if [[ ! -d ${LIBTORCH_PATH} ]] ; then
+
+    start=$(date +%s)
     wget ${LIBTORCH_REPO}
+    end=$(date +%s)
+    echo "Elapsed Time downloading LIBTORCH_REPO: $(($end-$start)) seconds"
+
     unzip ${LIBTORCH_ZIPFILE}
   fi
 
@@ -810,7 +906,10 @@ if ${USE_ROS2} ; then
     if [[ ! -d ${LIB_SOURCE} ]] ; then
       mkdir -p ${LIB_SOURCE}
       log "${LIB_REPO}"
+      start=$(date +%s)
       git clone --depth 1 --branch ${LIB_BRANCH} ${LIB_REPO} ${LIB_SOURCE}
+      end=$(date +%s)
+      echo "Elapsed Time dowloading fastdds extension: $(($end-$start)) seconds"
       mkdir -p ${LIB_SOURCE}/build
     fi
   }