diff --git a/ai_race/sim_environment/launch/sim_environment.launch b/ai_race/sim_environment/launch/sim_environment.launch
index d661044..814d707 100755
--- a/ai_race/sim_environment/launch/sim_environment.launch
+++ b/ai_race/sim_environment/launch/sim_environment.launch
@@ -74,10 +74,13 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="robot_pos" value="-x 1.8 -y 0.6 -z 0.03 -Y 0.0"/>
+      <arg name="camera_pos" value="-x 2.0 -y 0.12 -z 0.13 -Y 1.57"/>
+      <arg name="godeye_pos" value="-x 3.3 -y 2.3 -z 0.0 -Y 1.57"/>
     </include>  
   </group>
 
-  <!-- level s (if you want to run , set launch arg level=s --> 
+  <!-- level l (if you want to run , set launch arg level=s --> 
   <group if="$(eval level=='l')"> 
     <include file="$(find sim_environment)/launch/wheel_robot_with_surveillance.launch">
       <arg name="track_name" value="medium_track_plane_w_wall_large.world" />
@@ -88,8 +91,9 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
-      <arg name="robot_x_pos" value="5.75"/>
-      <arg name="camera_x_pos" value="5.15"/>
+      <arg name="robot_pos" value="-x 5.75 -y 0 -z 0 -Y 1.57"/>
+      <arg name="camera_pos" value="-x 5.15 -y 0 -z 0 -Y 0.0"/>
+      <arg name="godeye_pos" value="-x 0 -y 0 -z 4.0 -Y 0.0"/>
       <arg name="perspective" value="3" />
     </include>  
   </group>
diff --git a/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch b/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch
index 79b6ede..8f002ac 100755
--- a/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch
+++ b/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch
@@ -12,8 +12,9 @@
   <arg name="record" default="false" />
   <arg name="play" default="false" />
   <arg name="perspective" default="1" />
-  <arg name="robot_x_pos" default="1.6" />
-  <arg name="camera_x_pos" default="1.0" />
+  <arg name="robot_pos" default="-x 1.6 -y 0 -z 0 -Y 1.57" />
+  <arg name="camera_pos" default="-x 1.0 -y 0 -z 0 -Y 0" />
+  <arg name="godeye_pos" default="-x 0 -y 0 -z 0 -Y 0" />
 
   <!-- We resume the logic in empty_world.launch, changing only the name of 
     the world to be launched -->
@@ -43,11 +44,11 @@
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node name="wheel_robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
-    args="-urdf -x $(arg robot_x_pos) -y 0.0 -z 0.0 -Y 1.57  -param robot_description -model wheel_robot" />
+    args="-urdf $(arg robot_pos)  -param robot_description -model wheel_robot" />
   <node name="camera_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
-    args="-urdf -x $(arg camera_x_pos) -y 0.0 -z 0.0 -Y 0  -param camera_description -model surveillance_camera" />
+    args="-urdf $(arg camera_pos)  -param camera_description -model surveillance_camera" />
   <node name="godeye_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
-    args="-urdf -x 0.0 -y 0.0 -z 0.0   -param godeye_description -model godeye_camera" />
+    args="-urdf $(arg godeye_pos)  -param godeye_description -model godeye_camera" />
   <group if="$(eval perspective==1)">
    <node name="godeye_perspective_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
       args="-urdf -x 2.5 -y -3.5 -z 0.0   -param godeye_perspective_description -model godeye_camera_perspective" />  
@@ -58,7 +59,7 @@
   </group>
   <group if="$(eval perspective==3)">
    <node name="godeye_perspective_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" 
-      args="-urdf -x 8 -y -11.5 -z 0.0   -param godeye_perspective_description -model godeye_camera_perspective" />  
+      args="-urdf -x 7.5 -y -10.5 -z 0.0   -param godeye_perspective_description -model godeye_camera_perspective" />  
   </group>
  
   <!-- robot visualization in Rviz -->
diff --git a/ai_race/sim_environment/urdf/godeye.urdf.xacro b/ai_race/sim_environment/urdf/godeye.urdf.xacro
index 8b510ec..a24bd71 100755
--- a/ai_race/sim_environment/urdf/godeye.urdf.xacro
+++ b/ai_race/sim_environment/urdf/godeye.urdf.xacro
@@ -76,6 +76,7 @@
  
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
+    <static>true</static>
   </gazebo>
  
 
diff --git a/ai_race/sim_environment/urdf/godeye_perspective3.urdf.xacro b/ai_race/sim_environment/urdf/godeye_perspective3.urdf.xacro
index 9eca024..498b872 100755
--- a/ai_race/sim_environment/urdf/godeye_perspective3.urdf.xacro
+++ b/ai_race/sim_environment/urdf/godeye_perspective3.urdf.xacro
@@ -72,7 +72,7 @@
   </joint>
   
   <!-- camera -->
-  <camera_macro_perspective2_720x480 parent="base_link" prefix="godeye_camera_perspective" xyz="-4.5 0.0 0" x_rot="0" y_rot="-150" z_rot="-38"/>
+  <camera_macro_perspective_720x480 parent="base_link" prefix="godeye_camera_perspective" xyz="-4.0 0.0 0" x_rot="0" y_rot="-160" z_rot="-41"/>
  
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
diff --git a/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro b/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro
index 786dd65..ceb62eb 100755
--- a/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro
+++ b/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro
@@ -85,6 +85,7 @@
  
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
+    <static>true</static>
   </gazebo>
  
 
diff --git a/ai_race/sim_world/worlds/medium_track_plane_w_wall_large.world b/ai_race/sim_world/worlds/medium_track_plane_w_wall_large.world
index 31ab9a6..bd9a237 100755
--- a/ai_race/sim_world/worlds/medium_track_plane_w_wall_large.world
+++ b/ai_race/sim_world/worlds/medium_track_plane_w_wall_large.world
@@ -38,6 +38,49 @@
     <pose>0 0 0 0 0 0</pose>
     <name>racetrack</name>
   </include>
+
+  <include>
+    <name>cone_A</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>5.53 6.32 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_B</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>0.8 7.57 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_C</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>-5.2 6.2 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_D</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>-5.95 1 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_E</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>-4.3 -7.1 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_F</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>-0.51 -8.33 0 0 0 0</pose>
+  </include>
+  <include>
+    <name>cone_G</name>
+    <uri>model://sim_world/models/sankaku_cone_G</uri>
+    <static>true</static>
+    <pose>4.26 -7.1 0 0 0 0</pose>
+  </include>
 <!--
     <include>
       <name>beer0</name>