diff --git a/docs/custom.css b/docs/custom.css
index 97c6fd4d..facce85d 100644
--- a/docs/custom.css
+++ b/docs/custom.css
@@ -1,3 +1,3 @@
 .tight-table td {
     white-space: normal !important
-}
\ No newline at end of file
+}
diff --git a/docs/dictionary.txt b/docs/dictionary.txt
index 105b5501..ec11f1be 100644
--- a/docs/dictionary.txt
+++ b/docs/dictionary.txt
@@ -26,4 +26,8 @@ odometry
 tf
 amcl
 RViz
-junit
\ No newline at end of file
+junit
+runtime
+dot
+png
+svg
\ No newline at end of file
diff --git a/docs/how_to_run.rst b/docs/how_to_run.rst
index 1ed2d792..ef7faf52 100644
--- a/docs/how_to_run.rst
+++ b/docs/how_to_run.rst
@@ -2,6 +2,33 @@
 How to run
 ==========
 
+.. _runtime_parameters:
+
+Runtime Parameters
+------------------
+
+.. list-table:: 
+   :header-rows: 1
+   :class: tight-table   
+   
+   * - Parameter
+     - Description
+   * - ``-h`` ``--help``
+     - show help message
+   * - ``-d`` ``--debug``
+     - (For debugging) print internal debugging output
+   * - ``--dot``
+     - Write dot files of resulting py-tree (``<scenario-name>.[dot|png|svg]``). Writes files into current directory if no ``output-dir`` is given.
+   * - ``-l`` ``--log-model``
+     - (For debugging) Produce tree output of parsed scenario
+   * - ``-n`` ``--dry-run``
+     - Parse and resolve scenario, but do not execute
+   * - ``-o OUTPUT_DIR`` ``--output-dir OUTPUT_DIR``
+     - Directory for output (e.g. test results)
+   * - ``-t`` ``--live-tree``
+     - (For debugging) Show current state of py tree
+
+
 Run locally with ROS2
 ---------------------
 
@@ -24,12 +51,13 @@ To run an osc-file with ROS2:
 
    ros2 run scenario_execution_ros scenario_execution_ros $(PATH_TO_SCENARIO_FILE)
 
-Use the ``-t`` flag to see the printed tree and use the ``-d`` flag to see debug
-information of py_trees and the parser:
+To log the current state of the behavior tree during execution, add the ``-t`` flag as an argument and run it again:
 
 .. code-block:: bash
 
-   ros2 run scenario_execution_ros scenario_execution_ros $(PATH_TO_SCENARIO_FILE) -t -d
+   ros2 run scenario_execution_ros scenario_execution_ros $(PATH_TO_SCENARIO_FILE) -t
+
+Additional parameters are describe in section :ref:`runtime_parameters`.
 
 Run as standalone Python package without ROS2
 ---------------------------------------------
@@ -40,13 +68,13 @@ After installing :repo_link:`scenario_execution` using pip (see :ref:`install_wi
 
    scenario_execution $(PATH_TO_SCENARIO_FILE)
 
-
-Use the ``-t`` flag to see the printed tree and use the ``-d`` flag to see debug
-information of py_trees and the parser:
+To log the current state of the behavior tree during execution, add the ``-t`` flag as an argument and run it again:
 
 .. code-block:: bash
 
-   scenario_execution $(PATH_TO_SCENARIO_FILE) -t -d
+   scenario_execution $(PATH_TO_SCENARIO_FILE) -t
+
+Additional parameters are describe in section :ref:`runtime_parameters`.
 
 
 
diff --git a/scenario_execution/scenario_execution/scenario_execution_base.py b/scenario_execution/scenario_execution/scenario_execution_base.py
index d4d878e1..eef5a496 100644
--- a/scenario_execution/scenario_execution/scenario_execution_base.py
+++ b/scenario_execution/scenario_execution/scenario_execution_base.py
@@ -68,6 +68,7 @@ def __init__(self,
                  scenario_file: str,
                  output_dir: str,
                  dry_run=False,
+                 render_dot=False,
                  setup_timeout=py_trees.common.Duration.INFINITE,
                  tick_tock_period: float = 0.1) -> None:
 
@@ -85,6 +86,7 @@ def signal_handler(sig, frame):
         self.scenario_file = scenario_file
         self.output_dir = output_dir
         self.dry_run = dry_run
+        self.render_dot = render_dot
         if self.output_dir and not self.dry_run:
             if not os.path.isdir(self.output_dir):
                 try:
@@ -213,7 +215,9 @@ def parse(self):  # pylint: disable=too-many-return-statements
                                            failure_output=str(e),
                                            processing_time=datetime.now() - start))
             return False
-
+        if self.render_dot:
+            self.logger.info(f"Writing py-trees dot files to {self.tree.name.lower()}.[dot|svg|png] ...")
+            py_trees.display.render_dot_tree(self.tree, target_directory=self.output_dir)
         return True
 
     def run(self):
@@ -335,6 +339,7 @@ def parse_args(args):
                             help='For debugging: Show current state of py tree')
         parser.add_argument('-o', '--output-dir', type=str, help='Directory for output (e.g. test results)')
         parser.add_argument('-n', '--dry-run', action='store_true', help='Parse and resolve scenario, but do not execute')
+        parser.add_argument('--dot', action='store_true', help='Render dot trees of resulting py-tree')
         parser.add_argument('scenario', type=str, help='scenario file to execute', nargs='?')
         args, _ = parser.parse_known_args(args)
         return args
@@ -351,7 +356,8 @@ def main():
                                                live_tree=args.live_tree,
                                                scenario_file=args.scenario,
                                                output_dir=args.output_dir,
-                                               dry_run=args.dry_run)
+                                               dry_run=args.dry_run,
+                                               render_dot=args.dot)
     except ValueError as e:
         print(f"Error while initializing: {e}")
         sys.exit(1)
diff --git a/scenario_execution_ros/scenario_execution_ros/scenario_execution_ros.py b/scenario_execution_ros/scenario_execution_ros/scenario_execution_ros.py
index 87b1d013..13381762 100644
--- a/scenario_execution_ros/scenario_execution_ros/scenario_execution_ros.py
+++ b/scenario_execution_ros/scenario_execution_ros/scenario_execution_ros.py
@@ -42,6 +42,7 @@ def __init__(self) -> None:
         scenario = args.scenario
         output_dir = args.output_dir
         self.dry_run = args.dry_run
+        self.render_dot = args.dot
 
         # override commandline by ros parameters
         self.node.declare_parameter('debug', False)
@@ -50,6 +51,7 @@ def __init__(self) -> None:
         self.node.declare_parameter('output_dir', "")
         self.node.declare_parameter('scenario', "")
         self.node.declare_parameter('dry_run', False)
+        self.node.declare_parameter('dot', False)
 
         if self.node.get_parameter('debug').value:
             debug = self.node.get_parameter('debug').value
@@ -63,7 +65,9 @@ def __init__(self) -> None:
             output_dir = self.node.get_parameter('output_dir').value
         if self.node.get_parameter('dry_run').value:
             self.dry_run = self.node.get_parameter('dry_run').value
-        super().__init__(debug=debug, log_model=log_model, live_tree=live_tree, scenario_file=scenario, output_dir=output_dir)
+        if self.node.get_parameter('dot').value:
+            self.render_dot = self.node.get_parameter('dot').value
+        super().__init__(debug=debug, log_model=log_model, live_tree=live_tree, scenario_file=scenario, output_dir=output_dir, dry_run=self.dry_run, render_dot=self.render_dot)
 
     def _get_logger(self, debug):
         """