diff --git a/bt_view/src/bt_view/bt_view.py b/bt_view/src/bt_view/bt_view.py
index 7fae556..a628586 100644
--- a/bt_view/src/bt_view/bt_view.py
+++ b/bt_view/src/bt_view/bt_view.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from hashlib import sha256
 from math import log
 import os
 from typing import Dict, List, Optional, Union
@@ -56,6 +57,10 @@
 COLORS_PER_RETURN_STATE_VALUE[None] = COLORS_PER_RETURN_STATE[None]
 
 
+def my_hash(s: object) -> str:
+    return sha256(str(s).encode()).hexdigest()[:20]
+
+
 def _colormap(cm_name: str, value: Optional[float]) -> str:
     if value is None:
         # grey for missing values
@@ -135,7 +140,7 @@ def _make_return_value_bargraph(
         return None
     if not os.path.exists(BG_IMG_FOLDER):
         os.makedirs(BG_IMG_FOLDER)
-    img_hash = hash(tuple(retvalues_counts))
+    img_hash = my_hash(tuple(retvalues_counts))
     img_path = os.path.join(
         BG_IMG_FOLDER,
         f'{img_hash}.png')
@@ -164,7 +169,7 @@ def _make_history_image(
         return None
     if not os.path.exists(BG_IMG_FOLDER):
         os.makedirs(BG_IMG_FOLDER)
-    img_hash = hash(tuple(states))
+    img_hash = my_hash(tuple(states))
     img_path = os.path.join(
         BG_IMG_FOLDER,
         f'h{img_hash}.png')
diff --git a/bt_view/test/_test_data/reference/bt_trace1_demo.svg b/bt_view/test/_test_data/reference/bt_trace1_demo.svg
index 30b6a4f..a28ee62 100644
--- a/bt_view/test/_test_data/reference/bt_trace1_demo.svg
+++ b/bt_view/test/_test_data/reference/bt_trace1_demo.svg
@@ -12,7 +12,7 @@
 <g id="25" class="node">
 <title>25</title>
 <polygon fill="none" stroke="black" points="662,-604 379,-604 379,-512 662,-512 662,-604"/>
-<image xlink:href="/tmp/bt_imgs/h-1614802582094090976.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="379" y="-604"/>
+<image xlink:href="/tmp/bt_imgs/h593f4c2bb3869914f0f5.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="379" y="-604"/>
 <text text-anchor="start" x="429.5" y="-561.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">NavigateWithReplanning</text>
 <text text-anchor="start" x="446" y="-547.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">category: NODECAT.ROOT</text>
 </g>
@@ -20,7 +20,7 @@
 <g id="26" class="node">
 <title>26</title>
 <polygon fill="none" stroke="black" points="512,-476 229,-476 229,-384 512,-384 512,-476"/>
-<image xlink:href="/tmp/bt_imgs/h-8402335045759732325.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-476"/>
+<image xlink:href="/tmp/bt_imgs/haed3f5ec304295c89949.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-476"/>
 <text text-anchor="start" x="312.5" y="-427.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">RateController</text>
 </g>
 <!-- 25&#45;&gt;26 -->
@@ -33,7 +33,7 @@
 <g id="32" class="node">
 <title>32</title>
 <polygon fill="none" stroke="black" points="813,-476 530,-476 530,-384 813,-384 813,-476"/>
-<image xlink:href="/tmp/bt_imgs/h-6663992768057856380.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-476"/>
+<image xlink:href="/tmp/bt_imgs/h85e77f416ef006485e88.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-476"/>
 <text text-anchor="start" x="630" y="-427.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 </g>
 <!-- 25&#45;&gt;32 -->
@@ -46,7 +46,7 @@
 <g id="27" class="node">
 <title>27</title>
 <polygon fill="none" stroke="black" points="512,-348 229,-348 229,-256 512,-256 512,-348"/>
-<image xlink:href="/tmp/bt_imgs/h9075936513965410423.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/hac63e4e1451b18384252.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-348"/>
 <text text-anchor="start" x="300" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 </g>
 <!-- 26&#45;&gt;27 -->
@@ -59,7 +59,7 @@
 <g id="33" class="node">
 <title>33</title>
 <polygon fill="none" stroke="black" points="813,-348 530,-348 530,-256 813,-256 813,-348"/>
-<image xlink:href="/tmp/bt_imgs/h-3408313433945154466.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/h83e03abe40954b6238ce.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-348"/>
 <text text-anchor="start" x="630" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 </g>
 <!-- 32&#45;&gt;33 -->
@@ -72,7 +72,7 @@
 <g id="34" class="node">
 <title>34</title>
 <polygon fill="none" stroke="black" points="1114,-348 831,-348 831,-256 1114,-256 1114,-348"/>
-<image xlink:href="/tmp/bt_imgs/h-5948002282558009841.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="831" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/h77aa6f8c7e9b20b65794.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="831" y="-348"/>
 <text text-anchor="start" x="865" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPathRecoveryFallback</text>
 </g>
 <!-- 32&#45;&gt;34 -->
@@ -85,7 +85,7 @@
 <g id="28" class="node">
 <title>28</title>
 <polygon fill="none" stroke="black" points="283,-220 0,-220 0,-128 283,-128 283,-220"/>
-<image xlink:href="/tmp/bt_imgs/h4115351874634318867.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="0" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h5b77c3e18d73510c156d.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="0" y="-220"/>
 <text text-anchor="start" x="71" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 </g>
 <!-- 27&#45;&gt;28 -->
@@ -98,7 +98,7 @@
 <g id="29" class="node">
 <title>29</title>
 <polygon fill="none" stroke="black" points="590,-220 301,-220 301,-128 590,-128 590,-220"/>
-<image xlink:href="/tmp/bt_imgs/h4104367224825996442.png" width="289px" height="92px" preserveAspectRatio="xMinYMin meet" x="301" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h5bd05c73be648af6acf1.png" width="289px" height="92px" preserveAspectRatio="xMinYMin meet" x="301" y="-220"/>
 <text text-anchor="start" x="309" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPoseRecoveryFallback</text>
 </g>
 <!-- 27&#45;&gt;29 -->
@@ -111,7 +111,7 @@
 <g id="30" class="node">
 <title>30</title>
 <polygon fill="none" stroke="black" points="436,-92 153,-92 153,0 436,0 436,-92"/>
-<image xlink:href="/tmp/bt_imgs/h-8502214046229805269.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="153" y="-92"/>
+<image xlink:href="/tmp/bt_imgs/h9789e66a2e113ac2aaac.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="153" y="-92"/>
 <text text-anchor="start" x="249" y="-43.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">GoalUpdated</text>
 </g>
 <!-- 29&#45;&gt;30 -->
@@ -124,7 +124,7 @@
 <g id="31" class="node">
 <title>31</title>
 <polygon fill="none" stroke="black" points="737,-92 454,-92 454,0 737,0 737,-92"/>
-<image xlink:href="/tmp/bt_imgs/h7089143796904380274.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="454" y="-92"/>
+<image xlink:href="/tmp/bt_imgs/h2c7c3345c49f18042062.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="454" y="-92"/>
 <text text-anchor="start" x="488" y="-43.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ClearGlobalCostmap&#45;Context</text>
 </g>
 <!-- 29&#45;&gt;31 -->
@@ -137,7 +137,7 @@
 <g id="35" class="node">
 <title>35</title>
 <polygon fill="none" stroke="black" points="1040,-220 757,-220 757,-128 1040,-128 1040,-220"/>
-<image xlink:href="/tmp/bt_imgs/h-6076454691960731271.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="757" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h7c771aca6d0fb3f47a11.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="757" y="-220"/>
 <text text-anchor="start" x="853" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">GoalUpdated</text>
 </g>
 <!-- 34&#45;&gt;35 -->
@@ -150,7 +150,7 @@
 <g id="36" class="node">
 <title>36</title>
 <polygon fill="none" stroke="black" points="1341,-220 1058,-220 1058,-128 1341,-128 1341,-220"/>
-<image xlink:href="/tmp/bt_imgs/h-1662743135155315825.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="1058" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h213ce513698e8a4b598d.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="1058" y="-220"/>
 <text text-anchor="start" x="1096" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ClearLocalCostmap&#45;Context</text>
 </g>
 <!-- 34&#45;&gt;36 -->
diff --git a/bt_view/test/_test_data/reference/bt_trace1_fbl_log_states.svg b/bt_view/test/_test_data/reference/bt_trace1_fbl_log_states.svg
index d4c9a1e..c08d63b 100644
--- a/bt_view/test/_test_data/reference/bt_trace1_fbl_log_states.svg
+++ b/bt_view/test/_test_data/reference/bt_trace1_fbl_log_states.svg
@@ -12,7 +12,7 @@
 <g id="25" class="node">
 <title>25</title>
 <polygon fill="none" stroke="black" points="600,-434 351,-434 351,-376 600,-376 600,-434"/>
-<image xlink:href="/tmp/bt_imgs/-7570862258870974609.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="351" y="-434"/>
+<image xlink:href="/tmp/bt_imgs/5ec0622794720ccd9349.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="351" y="-434"/>
 <text text-anchor="start" x="384.5" y="-415.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">NavigateWithReplanning</text>
 <text text-anchor="start" x="401" y="-401.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">category: NODECAT.ROOT</text>
 <text text-anchor="start" x="380.5" y="-387.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 0 F: 0 R: 1 I: 1 </text>
@@ -21,7 +21,7 @@
 <g id="26" class="node">
 <title>26</title>
 <polygon fill="none" stroke="black" points="467,-340 218,-340 218,-282 467,-282 467,-340"/>
-<image xlink:href="/tmp/bt_imgs/-392691213374514.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-340"/>
+<image xlink:href="/tmp/bt_imgs/b3dc99e03e113e3e35e6.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-340"/>
 <text text-anchor="start" x="284.5" y="-314.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">RateController</text>
 <text text-anchor="start" x="241" y="-300.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 16 F: 0 R: 17 I: 0 </text>
 </g>
@@ -35,7 +35,7 @@
 <g id="32" class="node">
 <title>32</title>
 <polygon fill="none" stroke="black" points="734,-340 485,-340 485,-282 734,-282 734,-340"/>
-<image xlink:href="/tmp/bt_imgs/3925282729474832546.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-340"/>
+<image xlink:href="/tmp/bt_imgs/7613ae50892fe2d1fab2.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-340"/>
 <text text-anchor="start" x="568" y="-314.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 <text text-anchor="start" x="514.5" y="-300.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 0 F: 0 R: 1 I: 0 </text>
 </g>
@@ -49,7 +49,7 @@
 <g id="27" class="node">
 <title>27</title>
 <polygon fill="none" stroke="black" points="467,-246 218,-246 218,-188 467,-188 467,-246"/>
-<image xlink:href="/tmp/bt_imgs/1382266510631836047.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-246"/>
+<image xlink:href="/tmp/bt_imgs/bf4444d87df5e1df7938.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-246"/>
 <text text-anchor="start" x="272" y="-220.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 <text text-anchor="start" x="241" y="-206.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 16 F: 0 R: 16 I: 0 </text>
 </g>
@@ -63,7 +63,7 @@
 <g id="33" class="node">
 <title>33</title>
 <polygon fill="none" stroke="black" points="734,-246 485,-246 485,-188 734,-188 734,-246"/>
-<image xlink:href="/tmp/bt_imgs/-7570862258870974609.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-246"/>
+<image xlink:href="/tmp/bt_imgs/5ec0622794720ccd9349.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-246"/>
 <text text-anchor="start" x="568" y="-220.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 <text text-anchor="start" x="514.5" y="-206.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 0 F: 0 R: 1 I: 1 </text>
 </g>
@@ -90,7 +90,7 @@
 <g id="28" class="node">
 <title>28</title>
 <polygon fill="none" stroke="black" points="249,-152 0,-152 0,-94 249,-94 249,-152"/>
-<image xlink:href="/tmp/bt_imgs/1382266510631836047.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="0" y="-152"/>
+<image xlink:href="/tmp/bt_imgs/bf4444d87df5e1df7938.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="0" y="-152"/>
 <text text-anchor="start" x="54" y="-126.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 <text text-anchor="start" x="23" y="-112.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 16 F: 0 R: 16 I: 0 </text>
 </g>
diff --git a/bt_view/test/_test_data/reference/bt_trace2_demo.svg b/bt_view/test/_test_data/reference/bt_trace2_demo.svg
index 30b6a4f..a28ee62 100644
--- a/bt_view/test/_test_data/reference/bt_trace2_demo.svg
+++ b/bt_view/test/_test_data/reference/bt_trace2_demo.svg
@@ -12,7 +12,7 @@
 <g id="25" class="node">
 <title>25</title>
 <polygon fill="none" stroke="black" points="662,-604 379,-604 379,-512 662,-512 662,-604"/>
-<image xlink:href="/tmp/bt_imgs/h-1614802582094090976.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="379" y="-604"/>
+<image xlink:href="/tmp/bt_imgs/h593f4c2bb3869914f0f5.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="379" y="-604"/>
 <text text-anchor="start" x="429.5" y="-561.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">NavigateWithReplanning</text>
 <text text-anchor="start" x="446" y="-547.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">category: NODECAT.ROOT</text>
 </g>
@@ -20,7 +20,7 @@
 <g id="26" class="node">
 <title>26</title>
 <polygon fill="none" stroke="black" points="512,-476 229,-476 229,-384 512,-384 512,-476"/>
-<image xlink:href="/tmp/bt_imgs/h-8402335045759732325.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-476"/>
+<image xlink:href="/tmp/bt_imgs/haed3f5ec304295c89949.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-476"/>
 <text text-anchor="start" x="312.5" y="-427.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">RateController</text>
 </g>
 <!-- 25&#45;&gt;26 -->
@@ -33,7 +33,7 @@
 <g id="32" class="node">
 <title>32</title>
 <polygon fill="none" stroke="black" points="813,-476 530,-476 530,-384 813,-384 813,-476"/>
-<image xlink:href="/tmp/bt_imgs/h-6663992768057856380.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-476"/>
+<image xlink:href="/tmp/bt_imgs/h85e77f416ef006485e88.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-476"/>
 <text text-anchor="start" x="630" y="-427.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 </g>
 <!-- 25&#45;&gt;32 -->
@@ -46,7 +46,7 @@
 <g id="27" class="node">
 <title>27</title>
 <polygon fill="none" stroke="black" points="512,-348 229,-348 229,-256 512,-256 512,-348"/>
-<image xlink:href="/tmp/bt_imgs/h9075936513965410423.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/hac63e4e1451b18384252.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-348"/>
 <text text-anchor="start" x="300" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 </g>
 <!-- 26&#45;&gt;27 -->
@@ -59,7 +59,7 @@
 <g id="33" class="node">
 <title>33</title>
 <polygon fill="none" stroke="black" points="813,-348 530,-348 530,-256 813,-256 813,-348"/>
-<image xlink:href="/tmp/bt_imgs/h-3408313433945154466.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/h83e03abe40954b6238ce.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-348"/>
 <text text-anchor="start" x="630" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 </g>
 <!-- 32&#45;&gt;33 -->
@@ -72,7 +72,7 @@
 <g id="34" class="node">
 <title>34</title>
 <polygon fill="none" stroke="black" points="1114,-348 831,-348 831,-256 1114,-256 1114,-348"/>
-<image xlink:href="/tmp/bt_imgs/h-5948002282558009841.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="831" y="-348"/>
+<image xlink:href="/tmp/bt_imgs/h77aa6f8c7e9b20b65794.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="831" y="-348"/>
 <text text-anchor="start" x="865" y="-299.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPathRecoveryFallback</text>
 </g>
 <!-- 32&#45;&gt;34 -->
@@ -85,7 +85,7 @@
 <g id="28" class="node">
 <title>28</title>
 <polygon fill="none" stroke="black" points="283,-220 0,-220 0,-128 283,-128 283,-220"/>
-<image xlink:href="/tmp/bt_imgs/h4115351874634318867.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="0" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h5b77c3e18d73510c156d.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="0" y="-220"/>
 <text text-anchor="start" x="71" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 </g>
 <!-- 27&#45;&gt;28 -->
@@ -98,7 +98,7 @@
 <g id="29" class="node">
 <title>29</title>
 <polygon fill="none" stroke="black" points="590,-220 301,-220 301,-128 590,-128 590,-220"/>
-<image xlink:href="/tmp/bt_imgs/h4104367224825996442.png" width="289px" height="92px" preserveAspectRatio="xMinYMin meet" x="301" y="-220"/>
+<image xlink:href="/tmp/bt_imgs/h5bd05c73be648af6acf1.png" width="289px" height="92px" preserveAspectRatio="xMinYMin meet" x="301" y="-220"/>
 <text text-anchor="start" x="309" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPoseRecoveryFallback</text>
 </g>
 <!-- 27&#45;&gt;29 -->
@@ -111,7 +111,7 @@
 <g id="30" class="node">
 <title>30</title>
 <polygon fill="none" stroke="black" points="436,-92 153,-92 153,0 436,0 436,-92"/>
-<image xlink:href="/tmp/bt_imgs/h-8502214046229805269.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="153" y="-92"/>
+<image xlink:href="/tmp/bt_imgs/h9789e66a2e113ac2aaac.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="153" y="-92"/>
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index 2520524..6c83841 100644
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+<image xlink:href="/tmp/bt_imgs/f832a54cd21dece2ad72.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-246"/>
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+<image xlink:href="/tmp/bt_imgs/b67d8e6c8f867e70e008.png" width="289px" height="58px" preserveAspectRatio="xMinYMin meet" x="267" y="-152"/>
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+<image xlink:href="/tmp/bt_imgs/fc966513317ae3ba70b8.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="154" y="-58"/>
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+<image xlink:href="/tmp/bt_imgs/b67d8e6c8f867e70e008.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="421" y="-58"/>
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index aa70b11..806e8ee 100644
--- a/bt_view/test/_test_data/reference/bt_trace_other_demo.svg
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+<image xlink:href="/tmp/bt_imgs/h593f4c2bb3869914f0f5.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="379" y="-604"/>
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+<image xlink:href="/tmp/bt_imgs/haed3f5ec304295c89949.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="229" y="-476"/>
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+<image xlink:href="/tmp/bt_imgs/h83e03abe40954b6238ce.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="530" y="-348"/>
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+<image xlink:href="/tmp/bt_imgs/h5b77c3e18d73510c156d.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="0" y="-220"/>
 <text text-anchor="start" x="71" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
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 <text text-anchor="start" x="309" y="-171.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPoseRecoveryFallback</text>
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+<image xlink:href="/tmp/bt_imgs/h9789e66a2e113ac2aaac.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="153" y="-92"/>
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+<image xlink:href="/tmp/bt_imgs/h2c7c3345c49f18042062.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="454" y="-92"/>
 <text text-anchor="start" x="550" y="-43.3" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">GoalUpdated</text>
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 <g id="35" class="node">
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+<image xlink:href="/tmp/bt_imgs/h7c771aca6d0fb3f47a11.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="757" y="-220"/>
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 <g id="36" class="node">
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+<image xlink:href="/tmp/bt_imgs/h213ce513698e8a4b598d.png" width="283px" height="92px" preserveAspectRatio="xMinYMin meet" x="1058" y="-220"/>
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diff --git a/bt_view/test/_test_data/reference/bt_trace_other_fbl_log_states.svg b/bt_view/test/_test_data/reference/bt_trace_other_fbl_log_states.svg
index 426b27d..1bf5bc1 100644
--- a/bt_view/test/_test_data/reference/bt_trace_other_fbl_log_states.svg
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@@ -49,7 +49,7 @@
 <g id="27" class="node">
 <title>27</title>
 <polygon fill="none" stroke="black" points="467,-246 218,-246 218,-188 467,-188 467,-246"/>
-<image xlink:href="/tmp/bt_imgs/2365012748023131547.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-246"/>
+<image xlink:href="/tmp/bt_imgs/f6dee0e8e0ee2d4d9d8b.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="218" y="-246"/>
 <text text-anchor="start" x="272" y="-220.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 <text text-anchor="start" x="247.5" y="-206.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 6 F: 0 R: 6 I: 0 </text>
 </g>
@@ -63,7 +63,7 @@
 <g id="33" class="node">
 <title>33</title>
 <polygon fill="none" stroke="black" points="734,-246 485,-246 485,-188 734,-188 734,-246"/>
-<image xlink:href="/tmp/bt_imgs/5772841745407271477.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-246"/>
+<image xlink:href="/tmp/bt_imgs/291b1236f480475a1f28.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="485" y="-246"/>
 <text text-anchor="start" x="568" y="-220.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">FollowPath</text>
 <text text-anchor="start" x="514.5" y="-206.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 0 F: 0 R: 1 I: 1 </text>
 </g>
@@ -90,7 +90,7 @@
 <g id="28" class="node">
 <title>28</title>
 <polygon fill="none" stroke="black" points="249,-152 0,-152 0,-94 249,-94 249,-152"/>
-<image xlink:href="/tmp/bt_imgs/2365012748023131547.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="0" y="-152"/>
+<image xlink:href="/tmp/bt_imgs/f6dee0e8e0ee2d4d9d8b.png" width="249px" height="58px" preserveAspectRatio="xMinYMin meet" x="0" y="-152"/>
 <text text-anchor="start" x="54" y="-126.8" font-family="Bitstream Vera Sans Mono" font-weight="bold" font-size="14.00">ComputePathToPose</text>
 <text text-anchor="start" x="29.5" y="-112.8" font-family="Bitstream Vera Sans Mono" baseline-shift="sub" font-size="14.00">values: S: 6 F: 0 R: 6 I: 0 </text>
 </g>
diff --git a/bt_view/test/systemtests/test_bt_view_main.py b/bt_view/test/systemtests/test_bt_view_main.py
index fa860ea..fb1908d 100644
--- a/bt_view/test/systemtests/test_bt_view_main.py
+++ b/bt_view/test/systemtests/test_bt_view_main.py
@@ -30,8 +30,6 @@ def __init__(self, *args, **kwargs):
         self.no_exts = ['1', '2', '_other']
         # data extensions of the different output files
         self.log_data_exts = ['count', 'states']
-        # data extensions on static behavior trees
-        self.bt_data_exts = ['demo']
         # image extensions of the different output files
         self.img_exts = ['png', 'svg']