diff --git a/docs/quickstart.rst b/docs/quickstart.rst
index bfe4389b3..8a6a46e0a 100644
--- a/docs/quickstart.rst
+++ b/docs/quickstart.rst
@@ -43,6 +43,12 @@ Installing via either :command:`pip` or Poetry will install all of the dependenc
 	In the past, the ``shapely`` package did not install properly on Windows.
 	If you encounter this issue, try installing it manually following the instructions `here <https://github.com/Toblerity/Shapely#built-distributions>`__.
 
+.. note::
+
+	On some platforms, in particular OS X, you may get an error during the installation of `pygame <https://www.pygame.org/>`_ due to missing SDL files.
+	Try installing `SDL <https://www.libsdl.org/>`_: on OS X, if you use `Homebrew <https://brew.sh/>`_ you can simply run :command:`brew install sdl`.
+
+
 Trying Some Examples
 --------------------
 
diff --git a/docs/requirements.txt b/docs/requirements.txt
index c205259d2..7ed0e3de7 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -7,43 +7,43 @@ attrs==19.3.0
 babel==2.8.0
 certifi==2020.6.20
 chardet==3.0.4
-colorama==0.4.3; sys_platform == "win32" or platform_system == "Windows"
+colorama==0.4.4; platform_system == "Windows"
+colorama==0.4.4; sys_platform == "win32"
 cycler==0.10.0
 distlib==0.3.1
 docutils==0.16
-dotmap==1.3.17
+dotmap==1.3.22
 filelock==3.0.12
 idna==2.10
 imagesize==1.2.0
-iniconfig==1.0.1
+iniconfig==1.1.1
 jinja2==2.11.2
 kiwisolver==1.2.0
 mapbox-earcut==0.12.10
 markupsafe==1.1.1
-matplotlib==3.3.1
-more-itertools==8.5.0
-numpy==1.19.1
+matplotlib==3.3.2
+numpy==1.19.2
 opencv-python==4.2.0.34
 packaging==20.4
 pillow==7.2.0
 pluggy==0.13.1
 py==1.9.0
-pygame==2.0.0.dev10
-pygments==2.6.1
+pygame==2.0.0.dev18
+pygments==2.7.1
 pynverse==0.1.4.4
 pyparsing==2.4.7
 pyproj==2.6.1.post1
-pytest==6.0.1
 pytest-randomly==3.4.1
+pytest==6.1.1
 python-dateutil==2.8.1
 pytz==2020.1
 requests==2.24.0
-scipy==1.5.2
+scipy==1.5.3
 shapely==1.7.1
 six==1.15.0
 snowballstemmer==2.0.0
-sphinx==3.2.1
 sphinx-rtd-theme==0.4.3
+sphinx==3.2.1
 sphinxcontrib-applehelp==1.0.2
 sphinxcontrib-devhelp==1.0.2
 sphinxcontrib-htmlhelp==1.0.3
@@ -51,7 +51,7 @@ sphinxcontrib-jsmath==1.0.1
 sphinxcontrib-qthelp==1.0.3
 sphinxcontrib-serializinghtml==1.1.4
 toml==0.10.1
-tox==3.20.0
-urllib3==1.25.10
-virtualenv==20.0.31
+tox==3.20.1
+urllib3==1.25.11
+virtualenv==20.0.35
 wrapt==1.12.1
diff --git a/examples/driving/Carla_Challenge/carlaChallenge2.scenic b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
index b03b258e7..fdcae520c 100644
--- a/examples/driving/Carla_Challenge/carlaChallenge2.scenic
+++ b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
@@ -46,7 +46,7 @@ behavior LeadingCarBehavior(speed=10):
 # Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
 # 'network' is the 'class Network' object in roads.py
 
-# make sure to put '*' to uniformly randomly select from all elements of the list, 'lanes'
+# make sure to put '*' to uniformly randomly select from all elements of the list, 'network.lanes'
 lane = Uniform(*network.lanes)
 
 ##OBJECT PLACEMENT
diff --git a/poetry.lock b/poetry.lock
index 40717d87a..76bc75d4e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,51 +1,50 @@
 [[package]]
-category = "main"
-description = "A configurable sidebar-enabled Sphinx theme"
 name = "alabaster"
+version = "0.7.12"
+description = "A configurable sidebar-enabled Sphinx theme"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.7.12"
 
 [[package]]
-category = "main"
-description = "ANTLR 4.8 runtime for Python 3.7"
 name = "antlr4-python3-runtime"
+version = "4.8"
+description = "ANTLR 4.8 runtime for Python 3.7"
+category = "main"
 optional = false
 python-versions = "*"
-version = "4.8"
 
 [[package]]
-category = "main"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 name = "appdirs"
+version = "1.4.4"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "main"
 optional = true
 python-versions = "*"
-version = "1.4.4"
 
 [[package]]
-category = "main"
-description = "Read/rewrite/write Python ASTs"
 name = "astor"
+version = "0.8.1"
+description = "Read/rewrite/write Python ASTs"
+category = "main"
 optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
-version = "0.8.1"
 
 [[package]]
-category = "main"
-description = "Atomic file writes."
-marker = "sys_platform == \"win32\""
 name = "atomicwrites"
+version = "1.4.0"
+description = "Atomic file writes."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.4.0"
 
 [[package]]
-category = "main"
-description = "Classes Without Boilerplate"
 name = "attrs"
+version = "19.3.0"
+description = "Classes Without Boilerplate"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "19.3.0"
 
 [package.extras]
 azure-pipelines = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface", "pytest-azurepipelines"]
@@ -54,115 +53,114 @@ docs = ["sphinx", "zope.interface"]
 tests = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface"]
 
 [[package]]
-category = "main"
-description = "Internationalization utilities"
 name = "babel"
+version = "2.8.0"
+description = "Internationalization utilities"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.8.0"
 
 [package.dependencies]
 pytz = ">=2015.7"
 
 [[package]]
-category = "main"
-description = "Python package for providing Mozilla's CA Bundle."
 name = "certifi"
+version = "2020.6.20"
+description = "Python package for providing Mozilla's CA Bundle."
+category = "main"
 optional = false
 python-versions = "*"
-version = "2020.6.20"
 
 [[package]]
-category = "main"
-description = "Universal encoding detector for Python 2 and 3"
 name = "chardet"
+version = "3.0.4"
+description = "Universal encoding detector for Python 2 and 3"
+category = "main"
 optional = true
 python-versions = "*"
-version = "3.0.4"
 
 [[package]]
-category = "main"
-description = "Cross-platform colored terminal text."
-marker = "sys_platform == \"win32\" or platform_system == \"Windows\""
 name = "colorama"
+version = "0.4.4"
+description = "Cross-platform colored terminal text."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.4.3"
 
 [[package]]
-category = "main"
-description = "Composable style cycles"
 name = "cycler"
+version = "0.10.0"
+description = "Composable style cycles"
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.10.0"
 
 [package.dependencies]
 six = "*"
 
 [[package]]
-category = "main"
-description = "Distribution utilities"
 name = "distlib"
+version = "0.3.1"
+description = "Distribution utilities"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.3.1"
 
 [[package]]
-category = "main"
-description = "Docutils -- Python Documentation Utilities"
 name = "docutils"
+version = "0.16"
+description = "Docutils -- Python Documentation Utilities"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.16"
 
 [[package]]
-category = "main"
-description = "ordered, dynamically-expandable dot-access dictionary"
 name = "dotmap"
+version = "1.3.22"
+description = "ordered, dynamically-expandable dot-access dictionary"
+category = "main"
 optional = false
 python-versions = "*"
-version = "1.3.17"
 
 [[package]]
-category = "main"
-description = "A platform independent file lock."
 name = "filelock"
+version = "3.0.12"
+description = "A platform independent file lock."
+category = "main"
 optional = true
 python-versions = "*"
-version = "3.0.12"
 
 [[package]]
-category = "main"
-description = "Internationalized Domain Names in Applications (IDNA)"
 name = "idna"
+version = "2.10"
+description = "Internationalized Domain Names in Applications (IDNA)"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.10"
 
 [[package]]
-category = "main"
-description = "Getting image size from png/jpeg/jpeg2000/gif file"
 name = "imagesize"
+version = "1.2.0"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.2.0"
 
 [[package]]
-category = "main"
-description = "iniconfig: brain-dead simple config-ini parsing"
 name = "iniconfig"
+version = "1.1.1"
+description = "iniconfig: brain-dead simple config-ini parsing"
+category = "main"
 optional = true
 python-versions = "*"
-version = "1.0.1"
 
 [[package]]
-category = "main"
-description = "A very fast and expressive template engine."
 name = "jinja2"
+version = "2.11.2"
+description = "A very fast and expressive template engine."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.11.2"
 
 [package.dependencies]
 MarkupSafe = ">=0.23"
@@ -171,39 +169,39 @@ MarkupSafe = ">=0.23"
 i18n = ["Babel (>=0.8)"]
 
 [[package]]
-category = "main"
-description = "A fast implementation of the Cassowary constraint solver"
 name = "kiwisolver"
+version = "1.2.0"
+description = "A fast implementation of the Cassowary constraint solver"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.2.0"
 
 [[package]]
-category = "main"
-description = "Python bindings for the mapbox earcut C++ polygon triangulation library."
 name = "mapbox-earcut"
+version = "0.12.10"
+description = "Python bindings for the mapbox earcut C++ polygon triangulation library."
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.12.10"
 
 [package.dependencies]
 numpy = "*"
 
 [[package]]
-category = "main"
-description = "Safely add untrusted strings to HTML/XML markup."
 name = "markupsafe"
+version = "1.1.1"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "main"
 optional = true
 python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
-version = "1.1.1"
 
 [[package]]
-category = "main"
-description = "Python plotting package"
 name = "matplotlib"
+version = "3.3.2"
+description = "Python plotting package"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "3.3.2"
 
 [package.dependencies]
 certifi = ">=2020.06.20"
@@ -215,129 +213,120 @@ pyparsing = ">=2.0.3,<2.0.4 || >2.0.4,<2.1.2 || >2.1.2,<2.1.6 || >2.1.6"
 python-dateutil = ">=2.1"
 
 [[package]]
-category = "main"
-description = "More routines for operating on iterables, beyond itertools"
-name = "more-itertools"
-optional = true
-python-versions = ">=3.5"
-version = "8.5.0"
-
-[[package]]
-category = "main"
-description = "NumPy is the fundamental package for array computing with Python."
 name = "numpy"
+version = "1.19.2"
+description = "NumPy is the fundamental package for array computing with Python."
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.19.2"
 
 [[package]]
-category = "main"
-description = "Wrapper package for OpenCV python bindings."
 name = "opencv-python"
+version = "4.2.0.34"
+description = "Wrapper package for OpenCV python bindings."
+category = "main"
 optional = false
 python-versions = "*"
-version = "4.2.0.34"
 
 [package.dependencies]
 numpy = ">=1.11.1"
 
 [[package]]
-category = "main"
-description = "Core utilities for Python packages"
 name = "packaging"
+version = "20.4"
+description = "Core utilities for Python packages"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "20.4"
 
 [package.dependencies]
 pyparsing = ">=2.0.2"
 six = "*"
 
 [[package]]
-category = "main"
-description = "Python Imaging Library (Fork)"
 name = "pillow"
+version = "7.2.0"
+description = "Python Imaging Library (Fork)"
+category = "main"
 optional = false
 python-versions = ">=3.5"
-version = "7.2.0"
 
 [[package]]
-category = "main"
-description = "plugin and hook calling mechanisms for python"
 name = "pluggy"
+version = "0.13.1"
+description = "plugin and hook calling mechanisms for python"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "0.13.1"
 
 [package.extras]
 dev = ["pre-commit", "tox"]
 
 [[package]]
-category = "main"
-description = "library with cross-python path, ini-parsing, io, code, log facilities"
 name = "py"
+version = "1.9.0"
+description = "library with cross-python path, ini-parsing, io, code, log facilities"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.9.0"
 
 [[package]]
-category = "main"
-description = "Python Game Development"
 name = "pygame"
+version = "2.0.0.dev18"
+description = "Python Game Development"
+category = "main"
 optional = false
 python-versions = "*"
-version = "2.0.0.dev10"
 
 [[package]]
-category = "main"
-description = "Pygments is a syntax highlighting package written in Python."
 name = "pygments"
+version = "2.7.1"
+description = "Pygments is a syntax highlighting package written in Python."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "2.7.0"
 
 [[package]]
-category = "main"
-description = "A library for calculating the numerical inverse of a function"
 name = "pynverse"
+version = "0.1.4.4"
+description = "A library for calculating the numerical inverse of a function"
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.1.4.4"
 
 [package.dependencies]
 numpy = ">=1.6"
 scipy = ">=0.11"
 
 [[package]]
-category = "main"
-description = "Python parsing module"
 name = "pyparsing"
+version = "2.4.7"
+description = "Python parsing module"
+category = "main"
 optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "2.4.7"
 
 [[package]]
-category = "main"
-description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
 name = "pyproj"
+version = "2.6.1.post1"
+description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "2.6.1.post1"
 
 [[package]]
-category = "main"
-description = "pytest: simple powerful testing with Python"
 name = "pytest"
+version = "6.1.1"
+description = "pytest: simple powerful testing with Python"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "6.0.2"
 
 [package.dependencies]
-atomicwrites = ">=1.0"
+atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
 attrs = ">=17.4.0"
-colorama = "*"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
 iniconfig = "*"
-more-itertools = ">=4.0.0"
 packaging = "*"
 pluggy = ">=0.12,<1.0"
 py = ">=1.8.2"
@@ -348,42 +337,42 @@ checkqa_mypy = ["mypy (0.780)"]
 testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "requests", "xmlschema"]
 
 [[package]]
-category = "main"
-description = "Pytest plugin to randomly order tests and control random.seed."
 name = "pytest-randomly"
+version = "3.4.1"
+description = "Pytest plugin to randomly order tests and control random.seed."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "3.4.1"
 
 [package.dependencies]
 pytest = "*"
 
 [[package]]
-category = "main"
-description = "Extensions to the standard Python datetime module"
 name = "python-dateutil"
+version = "2.8.1"
+description = "Extensions to the standard Python datetime module"
+category = "main"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
-version = "2.8.1"
 
 [package.dependencies]
 six = ">=1.5"
 
 [[package]]
-category = "main"
-description = "World timezone definitions, modern and historical"
 name = "pytz"
+version = "2020.1"
+description = "World timezone definitions, modern and historical"
+category = "main"
 optional = true
 python-versions = "*"
-version = "2020.1"
 
 [[package]]
-category = "main"
-description = "Python HTTP for Humans."
 name = "requests"
+version = "2.24.0"
+description = "Python HTTP for Humans."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.24.0"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
@@ -396,23 +385,23 @@ security = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7)", "win-inet-pton"]
 
 [[package]]
-category = "main"
-description = "SciPy: Scientific Library for Python"
 name = "scipy"
+version = "1.5.3"
+description = "SciPy: Scientific Library for Python"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.5.2"
 
 [package.dependencies]
 numpy = ">=1.14.5"
 
 [[package]]
-category = "main"
-description = "Geometric objects, predicates, and operations"
 name = "shapely"
+version = "1.7.1"
+description = "Geometric objects, predicates, and operations"
+category = "main"
 optional = false
 python-versions = "*"
-version = "1.7.1"
 
 [package.extras]
 all = ["numpy", "pytest", "pytest-cov"]
@@ -420,40 +409,39 @@ test = ["pytest", "pytest-cov"]
 vectorized = ["numpy"]
 
 [[package]]
-category = "main"
-description = "Python 2 and 3 compatibility utilities"
 name = "six"
+version = "1.15.0"
+description = "Python 2 and 3 compatibility utilities"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "1.15.0"
 
 [[package]]
-category = "main"
-description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
 name = "snowballstemmer"
+version = "2.0.0"
+description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
+category = "main"
 optional = true
 python-versions = "*"
-version = "2.0.0"
 
 [[package]]
-category = "main"
-description = "Python documentation generator"
 name = "sphinx"
+version = "3.2.1"
+description = "Python documentation generator"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "3.2.1"
 
 [package.dependencies]
-Jinja2 = ">=2.3"
-Pygments = ">=2.0"
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3"
-colorama = ">=0.3.5"
+colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
 docutils = ">=0.12"
 imagesize = "*"
+Jinja2 = ">=2.3"
 packaging = "*"
+Pygments = ">=2.0"
 requests = ">=2.5.0"
-setuptools = "*"
 snowballstemmer = ">=1.1"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
@@ -468,105 +456,105 @@ lint = ["flake8 (>=3.5.0)", "flake8-import-order", "mypy (>=0.780)", "docutils-s
 test = ["pytest", "pytest-cov", "html5lib", "typed-ast", "cython"]
 
 [[package]]
-category = "main"
-description = "Read the Docs theme for Sphinx"
 name = "sphinx-rtd-theme"
+version = "0.4.3"
+description = "Read the Docs theme for Sphinx"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.4.3"
 
 [package.dependencies]
 sphinx = "*"
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
 name = "sphinxcontrib-applehelp"
+version = "1.0.2"
+description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.2"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
 name = "sphinxcontrib-devhelp"
+version = "1.0.2"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.2"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 name = "sphinxcontrib-htmlhelp"
+version = "1.0.3"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.3"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest", "html5lib"]
 
 [[package]]
-category = "main"
-description = "A sphinx extension which renders display math in HTML via JavaScript"
 name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.1"
 
 [package.extras]
 test = ["pytest", "flake8", "mypy"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
 name = "sphinxcontrib-qthelp"
+version = "1.0.3"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.3"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
 name = "sphinxcontrib-serializinghtml"
+version = "1.1.4"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.1.4"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "Python Library for Tom's Obvious, Minimal Language"
 name = "toml"
+version = "0.10.1"
+description = "Python Library for Tom's Obvious, Minimal Language"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.10.1"
 
 [[package]]
-category = "main"
-description = "tox is a generic virtualenv management and test command line tool"
 name = "tox"
+version = "3.20.1"
+description = "tox is a generic virtualenv management and test command line tool"
+category = "main"
 optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
-version = "3.20.0"
 
 [package.dependencies]
-colorama = ">=0.4.1"
+colorama = {version = ">=0.4.1", markers = "platform_system == \"Windows\""}
 filelock = ">=3.0.0"
 packaging = ">=14"
 pluggy = ">=0.12.0"
@@ -580,25 +568,25 @@ docs = ["pygments-github-lexers (>=0.0.5)", "sphinx (>=2.0.0)", "sphinxcontrib-a
 testing = ["flaky (>=3.4.0)", "freezegun (>=0.3.11)", "pathlib2 (>=2.3.3)", "psutil (>=5.6.1)", "pytest (>=4.0.0)", "pytest-cov (>=2.5.1)", "pytest-mock (>=1.10.0)", "pytest-randomly (>=1.0.0)", "pytest-xdist (>=1.22.2)"]
 
 [[package]]
-category = "main"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
 name = "urllib3"
+version = "1.25.11"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
-version = "1.25.10"
 
 [package.extras]
 brotli = ["brotlipy (>=0.6.0)"]
-secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "pyOpenSSL (>=0.14)", "ipaddress"]
+secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]
 
 [[package]]
-category = "main"
-description = "Virtual Python Environment builder"
 name = "virtualenv"
+version = "20.0.35"
+description = "Virtual Python Environment builder"
+category = "main"
 optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
-version = "20.0.31"
 
 [package.dependencies]
 appdirs = ">=1.4.3,<2"
@@ -608,23 +596,24 @@ six = ">=1.9.0,<2"
 
 [package.extras]
 docs = ["proselint (>=0.10.2)", "sphinx (>=3)", "sphinx-argparse (>=0.2.5)", "sphinx-rtd-theme (>=0.4.3)", "towncrier (>=19.9.0rc1)"]
-testing = ["coverage (>=5)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "pytest-xdist (>=1.31.0)", "packaging (>=20.0)", "xonsh (>=0.9.16)"]
+testing = ["coverage (>=4)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "pytest-xdist (>=1.31.0)", "packaging (>=20.0)", "xonsh (>=0.9.16)"]
 
 [[package]]
-category = "main"
-description = "Module for decorators, wrappers and monkey patching."
 name = "wrapt"
+version = "1.12.1"
+description = "Module for decorators, wrappers and monkey patching."
+category = "main"
 optional = false
 python-versions = "*"
-version = "1.12.1"
 
 [extras]
 dev = ["pytest-randomly", "pytest", "sphinx", "sphinx_rtd_theme", "tox", "astor", "pyproj"]
 guideways = ["pyproj"]
 
 [metadata]
-content-hash = "b6bcc270c5d61e45fd8f67afb605c8afea5c84fefe64801c81803835514f6132"
+lock-version = "1.1"
 python-versions = "^3.8"
+content-hash = "b6bcc270c5d61e45fd8f67afb605c8afea5c84fefe64801c81803835514f6132"
 
 [metadata.files]
 alabaster = [
@@ -663,8 +652,8 @@ chardet = [
     {file = "chardet-3.0.4.tar.gz", hash = "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae"},
 ]
 colorama = [
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-    {file = "colorama-0.4.3.tar.gz", hash = "sha256:e96da0d330793e2cb9485e9ddfd918d456036c7149416295932478192f4436a1"},
+    {file = "colorama-0.4.4-py2.py3-none-any.whl", hash = "sha256:9f47eda37229f68eee03b24b9748937c7dc3868f906e8ba69fbcbdd3bc5dc3e2"},
+    {file = "colorama-0.4.4.tar.gz", hash = "sha256:5941b2b48a20143d2267e95b1c2a7603ce057ee39fd88e7329b0c292aa16869b"},
 ]
 cycler = [
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@@ -679,8 +668,8 @@ docutils = [
     {file = "docutils-0.16.tar.gz", hash = "sha256:c2de3a60e9e7d07be26b7f2b00ca0309c207e06c100f9cc2a94931fc75a478fc"},
 ]
 dotmap = [
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-    {file = "dotmap-1.3.17.tar.gz", hash = "sha256:51b359bd432a031397e7ec11acff379774ecb61bbc08b3d4f1e59863c7584ddd"},
+    {file = "dotmap-1.3.22-py3-none-any.whl", hash = "sha256:87a63a5269ec0b49805d1499890fd9a55f542aa5a2be145feedebdfb4646570d"},
+    {file = "dotmap-1.3.22.tar.gz", hash = "sha256:621ab212dda503dcd2881a40f051d10b602d43051d5d243919839db01b12530b"},
 ]
 filelock = [
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@@ -695,8 +684,8 @@ imagesize = [
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 ]
 iniconfig = [
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-    {file = "iniconfig-1.0.1.tar.gz", hash = "sha256:e5f92f89355a67de0595932a6c6c02ab4afddc6fcdc0bfc5becd0d60884d3f69"},
+    {file = "iniconfig-1.1.1-py2.py3-none-any.whl", hash = "sha256:011e24c64b7f47f6ebd835bb12a743f2fbe9a26d4cecaa7f53bc4f35ee9da8b3"},
+    {file = "iniconfig-1.1.1.tar.gz", hash = "sha256:bc3af051d7d14b2ee5ef9969666def0cd1a000e121eaea580d4a313df4b37f32"},
 ]
 jinja2 = [
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@@ -706,16 +695,19 @@ kiwisolver = [
     {file = "kiwisolver-1.2.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:443c2320520eda0a5b930b2725b26f6175ca4453c61f739fef7a5847bd262f74"},
     {file = "kiwisolver-1.2.0-cp36-cp36m-manylinux1_i686.whl", hash = "sha256:efcf3397ae1e3c3a4a0a0636542bcad5adad3b1dd3e8e629d0b6e201347176c8"},
     {file = "kiwisolver-1.2.0-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:fccefc0d36a38c57b7bd233a9b485e2f1eb71903ca7ad7adacad6c28a56d62d2"},
+    {file = "kiwisolver-1.2.0-cp36-cp36m-manylinux2014_aarch64.whl", hash = "sha256:be046da49fbc3aa9491cc7296db7e8d27bcf0c3d5d1a40259c10471b014e4e0c"},
     {file = "kiwisolver-1.2.0-cp36-none-win32.whl", hash = "sha256:60a78858580761fe611d22127868f3dc9f98871e6fdf0a15cc4203ed9ba6179b"},
     {file = "kiwisolver-1.2.0-cp36-none-win_amd64.whl", hash = "sha256:556da0a5f60f6486ec4969abbc1dd83cf9b5c2deadc8288508e55c0f5f87d29c"},
     {file = "kiwisolver-1.2.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:7cc095a4661bdd8a5742aaf7c10ea9fac142d76ff1770a0f84394038126d8fc7"},
     {file = "kiwisolver-1.2.0-cp37-cp37m-manylinux1_i686.whl", hash = "sha256:c955791d80e464da3b471ab41eb65cf5a40c15ce9b001fdc5bbc241170de58ec"},
     {file = "kiwisolver-1.2.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:603162139684ee56bcd57acc74035fceed7dd8d732f38c0959c8bd157f913fec"},
+    {file = "kiwisolver-1.2.0-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:63f55f490b958b6299e4e5bdac66ac988c3d11b7fafa522800359075d4fa56d1"},
     {file = "kiwisolver-1.2.0-cp37-none-win32.whl", hash = "sha256:03662cbd3e6729f341a97dd2690b271e51a67a68322affab12a5b011344b973c"},
     {file = "kiwisolver-1.2.0-cp37-none-win_amd64.whl", hash = "sha256:4eadb361baf3069f278b055e3bb53fa189cea2fd02cb2c353b7a99ebb4477ef1"},
     {file = "kiwisolver-1.2.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c31bc3c8e903d60a1ea31a754c72559398d91b5929fcb329b1c3a3d3f6e72113"},
     {file = "kiwisolver-1.2.0-cp38-cp38-manylinux1_i686.whl", hash = "sha256:d52b989dc23cdaa92582ceb4af8d5bcc94d74b2c3e64cd6785558ec6a879793e"},
     {file = "kiwisolver-1.2.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:e586b28354d7b6584d8973656a7954b1c69c93f708c0c07b77884f91640b7657"},
+    {file = "kiwisolver-1.2.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:38d05c9ecb24eee1246391820ed7137ac42a50209c203c908154782fced90e44"},
     {file = "kiwisolver-1.2.0-cp38-none-win32.whl", hash = "sha256:d069ef4b20b1e6b19f790d00097a5d5d2c50871b66d10075dab78938dc2ee2cf"},
     {file = "kiwisolver-1.2.0-cp38-none-win_amd64.whl", hash = "sha256:18d749f3e56c0480dccd1714230da0f328e6e4accf188dd4e6884bdd06bf02dd"},
     {file = "kiwisolver-1.2.0.tar.gz", hash = "sha256:247800260cd38160c362d211dcaf4ed0f7816afb5efe56544748b21d6ad6d17f"},
@@ -794,10 +786,6 @@ matplotlib = [
     {file = "matplotlib-3.3.2-pp36-pypy36_pp73-manylinux2010_x86_64.whl", hash = "sha256:2f5eefc17dc2a71318d5a3496313be5c351c0731e8c4c6182c9ac3782cfc4076"},
     {file = "matplotlib-3.3.2.tar.gz", hash = "sha256:3d2edbf59367f03cd9daf42939ca06383a7d7803e3993eb5ff1bee8e8a3fbb6b"},
 ]
-more-itertools = [
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-    {file = "more_itertools-8.5.0-py3-none-any.whl", hash = "sha256:9b30f12df9393f0d28af9210ff8efe48d10c94f73e5daf886f10c4b0b0b4f03c"},
-]
 numpy = [
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@@ -877,6 +865,8 @@ pillow = [
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     {file = "Pillow-7.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:a060cf8aa332052df2158e5a119303965be92c3da6f2d93b6878f0ebca80b2f6"},
+    {file = "Pillow-7.2.0-pp36-pypy36_pp73-macosx_10_10_x86_64.whl", hash = "sha256:9c87ef410a58dd54b92424ffd7e28fd2ec65d2f7fc02b76f5e9b2067e355ebf6"},
+    {file = "Pillow-7.2.0-pp36-pypy36_pp73-manylinux2010_x86_64.whl", hash = "sha256:e901964262a56d9ea3c2693df68bc9860b8bdda2b04768821e4c44ae797de117"},
     {file = "Pillow-7.2.0-pp36-pypy36_pp73-win32.whl", hash = "sha256:25930fadde8019f374400f7986e8404c8b781ce519da27792cbe46eabec00c4d"},
     {file = "Pillow-7.2.0.tar.gz", hash = "sha256:97f9e7953a77d5a70f49b9a48da7776dc51e9b738151b22dacf101641594a626"},
 ]
@@ -889,38 +879,51 @@ py = [
     {file = "py-1.9.0.tar.gz", hash = "sha256:9ca6883ce56b4e8da7e79ac18787889fa5206c79dcc67fb065376cd2fe03f342"},
 ]
 pygame = [
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+    {file = "urllib3-1.25.11-py2.py3-none-any.whl", hash = "sha256:f5321fbe4bf3fefa0efd0bfe7fb14e90909eb62a48ccda331726b4319897dd5e"},
+    {file = "urllib3-1.25.11.tar.gz", hash = "sha256:8d7eaa5a82a1cac232164990f04874c594c9453ec55eef02eab885aa02fc17a2"},
 ]
 virtualenv = [
-    {file = "virtualenv-20.0.31-py2.py3-none-any.whl", hash = "sha256:e0305af10299a7fb0d69393d8f04cb2965dda9351140d11ac8db4e5e3970451b"},
-    {file = "virtualenv-20.0.31.tar.gz", hash = "sha256:43add625c53c596d38f971a465553f6318decc39d98512bc100fa1b1e839c8dc"},
+    {file = "virtualenv-20.0.35-py2.py3-none-any.whl", hash = "sha256:0ebc633426d7468664067309842c81edab11ae97fcaf27e8ad7f5748c89b431b"},
+    {file = "virtualenv-20.0.35.tar.gz", hash = "sha256:2a72c80fa2ad8f4e2985c06e6fc12c3d60d060e410572f553c90619b0f6efaf3"},
 ]
 wrapt = [
     {file = "wrapt-1.12.1.tar.gz", hash = "sha256:b62ffa81fb85f4332a4f609cab4ac40709470da05643a082ec1eb88e6d9b97d7"},
diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic
index d54af55de..89cf233db 100644
--- a/src/scenic/domains/driving/behaviors.scenic
+++ b/src/scenic/domains/driving/behaviors.scenic
@@ -62,9 +62,11 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra
     This behavior does not terminate. A recommended use of the behavior is to accompany it with condition,
     e.g. do FollowLaneBehavior() until ...
 
-    :param target_speed: Its unit is in m/s. By default, it is set to 10 m/s
-    :param laneToFollow: If the lane to follow is different from the lane that the vehicle is on, this parameter can be used to specify that lane. 
-    By default, this variable will be set to None, which means that the vehicle will follow the lane that it is currently on.
+    Arguments:
+        target_speed: Its unit is in m/s. By default, it is set to 10 m/s
+        laneToFollow: If the lane to follow is different from the lane that the vehicle is on,
+            this parameter can be used to specify that lane. By default, this variable will be
+            set to None, which means that the vehicle will follow the lane that it is currently on.
     """
 
     past_steer_angle = 0