diff --git a/simulation/models/at0/model.sdf b/simulation/models/at0/model.sdf
index 103eee4c..ff8b3b38 100644
--- a/simulation/models/at0/model.sdf
+++ b/simulation/models/at0/model.sdf
@@ -1,11 +1,11 @@
 <?xml version='1.0'?>
 <sdf version='1.4'>
 	<model name="at0">
-		<static>true</static>
+		<static>false</static>
 		<link name='link'>
-			<pose>0 0 0.025 0 0 0</pose>
+			<pose>0 0 0.0 0.0 0 0</pose>
 			<inertial>
-				<mass>0.1</mass>
+				<mass>0.01</mass> <!-- Set the mass of the target to 10 grams -->>
 				<inertia>
 					<ixx>0.00004</ixx>
 					<ixy>0.0</ixy>
@@ -16,7 +16,7 @@
 				</inertia>
 			</inertial>
 			<visual name='visual'>
-			  <transparency>0.001</transparency>
+			  <transparency>0.1</transparency>
 				<geometry>
 					<box>
 						<size>0.05 0.05 0.05</size>
@@ -27,16 +27,11 @@
 						<uri>model://at0/materials/scripts</uri>
 						<uri>model://at0/materials/textures</uri>
 						<name>at0/Diffuse</name>
-						<ambient>255 255 255 1</ambient>
-						<diffuse>255 255 255 1</diffuse>
-						<specular>0.1 0.1 0.1 1</specular>
-						<emissive>0 0 0 0</emissive>
-
 					</script>
 				</material>
 			</visual>
 			<collision name ='collision'>
-				<pose>0 0 -0.0125 0 0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 				<geometry>
 					<box>
 						<size>0.05 0.05 0.05</size>
diff --git a/simulation/worlds/200_dynamic_targets.world b/simulation/worlds/200_dynamic_targets.world
index dd08e1ad..3a9827ad 100644
--- a/simulation/worlds/200_dynamic_targets.world
+++ b/simulation/worlds/200_dynamic_targets.world
@@ -83,7 +83,7 @@
     <model name='at0'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -114,7 +114,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -144,7 +144,7 @@
     <model name='at0_0'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -175,7 +175,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -205,7 +205,7 @@
     <model name='at0_1'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -236,7 +236,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -266,7 +266,7 @@
     <model name='at0_2'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -297,7 +297,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -327,7 +327,7 @@
     <model name='at0_3'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -358,7 +358,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -388,7 +388,7 @@
     <model name='at0_4'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -419,7 +419,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -449,7 +449,7 @@
     <model name='at0_5'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -480,7 +480,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -510,7 +510,7 @@
     <model name='at0_6'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -541,7 +541,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -571,7 +571,7 @@
     <model name='at0_7'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -602,7 +602,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -632,7 +632,7 @@
     <model name='at0_8'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -663,7 +663,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -693,7 +693,7 @@
     <model name='at0_9'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -724,7 +724,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -754,7 +754,7 @@
     <model name='at0_10'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -785,7 +785,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -815,7 +815,7 @@
     <model name='at0_11'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -846,7 +846,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -876,7 +876,7 @@
     <model name='at0_12'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -907,7 +907,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -937,7 +937,7 @@
     <model name='at0_13'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -968,7 +968,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -998,7 +998,7 @@
     <model name='at0_14'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1029,7 +1029,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1059,7 +1059,7 @@
     <model name='at0_15'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1090,7 +1090,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1120,7 +1120,7 @@
     <model name='at0_16'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1151,7 +1151,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1181,7 +1181,7 @@
     <model name='at0_17'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1212,7 +1212,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1242,7 +1242,7 @@
     <model name='at0_18'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1273,7 +1273,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1303,7 +1303,7 @@
     <model name='at0_19'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1334,7 +1334,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1364,7 +1364,7 @@
     <model name='at0_20'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1395,7 +1395,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1425,7 +1425,7 @@
     <model name='at0_21'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1456,7 +1456,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1486,7 +1486,7 @@
     <model name='at0_22'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1517,7 +1517,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1547,7 +1547,7 @@
     <model name='at0_23'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1578,7 +1578,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1608,7 +1608,7 @@
     <model name='at0_24'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1639,7 +1639,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1669,7 +1669,7 @@
     <model name='at0_25'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -1700,7 +1700,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -1734,7 +1734,7 @@
       <model name='at0'>
         <pose>-1.54043 2.592 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-1.54043 2.592 0.05 0 -0 0</pose>
+          <pose>-1.54043 2.592 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1743,7 +1743,7 @@
       <model name='at0_0'>
         <pose>-2 2 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-2 2 0.05 0 -0 0</pose>
+          <pose>-2 2 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1752,7 +1752,7 @@
       <model name='at0_1'>
         <pose>-2 2.50634 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-2 2.50634 0.05 0 -0 0</pose>
+          <pose>-2 2.50634 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1761,7 +1761,7 @@
       <model name='at0_10'>
         <pose>0 2.48596 0 0 -0 0</pose>
         <link name='link'>
-          <pose>0 2.48596 0.05 0 -0 0</pose>
+          <pose>0 2.48596 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1770,7 +1770,7 @@
       <model name='at0_100'>
         <pose>-3.49102 -0.474388 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-3.49102 -0.474388 0.05 0 -0 0</pose>
+          <pose>-3.49102 -0.474388 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1779,7 +1779,7 @@
       <model name='at0_101'>
         <pose>-3.53732 -1.51241 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-3.53732 -1.51241 0.05 0 -0 0</pose>
+          <pose>-3.53732 -1.51241 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1788,7 +1788,7 @@
       <model name='at0_102'>
         <pose>-3.55433 -2.50653 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-3.55433 -2.50653 0.05 0 -0 0</pose>
+          <pose>-3.55433 -2.50653 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1797,7 +1797,7 @@
       <model name='at0_103'>
         <pose>-2.48703 -2.52393 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-2.48703 -2.52393 0.05 0 -0 0</pose>
+          <pose>-2.48703 -2.52393 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1806,7 +1806,7 @@
       <model name='at0_104'>
         <pose>-1.49284 -2.54114 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-1.49284 -2.54114 0.05 0 -0 0</pose>
+          <pose>-1.49284 -2.54114 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1815,7 +1815,7 @@
       <model name='at0_105'>
         <pose>-0.483918 -2.51452 0 0 -0 0</pose>
         <link name='link'>
-          <pose>-0.483918 -2.51452 0.05 0 -0 0</pose>
+          <pose>-0.483918 -2.51452 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1824,7 +1824,7 @@
       <model name='at0_106'>
         <pose>0.451825 -2.51696 0 0 -0 0</pose>
         <link name='link'>
-          <pose>0.451825 -2.51696 0.05 0 -0 0</pose>
+          <pose>0.451825 -2.51696 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -1833,7 +1833,7 @@
       <model name='at0_107'>
         <pose>1.53378 -2.51978 0 0 -0 0</pose>
         <link name='link'>
-          <pose>1.53378 -2.51978 0.05 0 -0 0</pose>
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@@ -2355,7 +2355,7 @@
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@@ -2373,7 +2373,7 @@
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@@ -2409,7 +2409,7 @@
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@@ -2427,7 +2427,7 @@
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@@ -2436,7 +2436,7 @@
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@@ -2445,7 +2445,7 @@
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@@ -2454,7 +2454,7 @@
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@@ -2463,7 +2463,7 @@
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@@ -2472,7 +2472,7 @@
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@@ -2562,7 +2562,7 @@
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@@ -2571,7 +2571,7 @@
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@@ -3309,7 +3309,7 @@
       <model name='at0_77'>
         <pose>0.540566 -2 0 0 -0 0</pose>
         <link name='link'>
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@@ -3318,7 +3318,7 @@
       <model name='at0_78'>
         <pose>1 -2 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1 -2 0.025 0 -0 0</pose>
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@@ -3327,7 +3327,7 @@
       <model name='at0_79'>
         <pose>1.47803 -1.5108 0 0 -0 0</pose>
         <link name='link'>
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@@ -3336,7 +3336,7 @@
       <model name='at0_8'>
         <pose>-0.469874 3 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>-0.469874 3 0.025 0 -0 0</pose>
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@@ -3345,7 +3345,7 @@
       <model name='at0_80'>
         <pose>1.50851 -1 0 0 -0 0</pose>
         <link name='link'>
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@@ -3354,7 +3354,7 @@
       <model name='at0_81'>
         <pose>2 -1.5119 0 0 -0 0</pose>
         <link name='link'>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3363,7 +3363,7 @@
       <model name='at0_82'>
         <pose>2 -1 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>2 -1 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3372,7 +3372,7 @@
       <model name='at0_83'>
         <pose>1.50595 -2 0 0 -0 0</pose>
         <link name='link'>
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@@ -3381,7 +3381,7 @@
       <model name='at0_84'>
         <pose>2 -2 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>2 -2 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3390,7 +3390,7 @@
       <model name='at0_85'>
         <pose>1 1.44395 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1 1.44395 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3399,7 +3399,7 @@
       <model name='at0_86'>
         <pose>1.44213 1.4433 0 0 -0 0</pose>
         <link name='link'>
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@@ -3408,7 +3408,7 @@
       <model name='at0_87'>
         <pose>2 1.50045 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>2 1.50045 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3417,7 +3417,7 @@
       <model name='at0_88'>
         <pose>1 1 0 0 -0 0</pose>
         <link name='link'>
-          <pose>1 1 0.05 0 -0 0</pose>
+          <pose>1 1 0.025 0 -0 0</pose>
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           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3426,7 +3426,7 @@
       <model name='at0_89'>
         <pose>1.49956 1 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1.49956 1 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3435,7 +3435,7 @@
       <model name='at0_9'>
         <pose>0 3 0 0 -0 0</pose>
         <link name='link'>
-          <pose>0 3 0.05 0 -0 0</pose>
+          <pose>0 3 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3444,7 +3444,7 @@
       <model name='at0_90'>
         <pose>2 1 0 0 -0 0</pose>
         <link name='link'>
-          <pose>2 1 0.05 0 -0 0</pose>
+          <pose>2 1 0.025 0 -0 0</pose>
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           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3453,7 +3453,7 @@
       <model name='at0_91'>
         <pose>1 0.49393 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1 0.49393 0.025 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3462,7 +3462,7 @@
       <model name='at0_92'>
         <pose>1.46882 0.492561 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1.46882 0.492561 0.025 0 -0 0</pose>
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           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3471,7 +3471,7 @@
       <model name='at0_93'>
         <pose>2 0.491234 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>2 0.491234 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3480,7 +3480,7 @@
       <model name='at0_94'>
         <pose>1 0 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1 0 0.025 0 -0 0</pose>
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           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -3489,7 +3489,7 @@
       <model name='at0_95'>
         <pose>1.49658 0 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1.49658 0 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3498,7 +3498,7 @@
       <model name='at0_96'>
         <pose>2 0 0 0 -0 0</pose>
         <link name='link'>
-          <pose>2 0 0.05 0 -0 0</pose>
+          <pose>2 0 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3507,7 +3507,7 @@
       <model name='at0_97'>
         <pose>1 -0.529783 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1 -0.529783 0.025 0 -0 0</pose>
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@@ -3516,7 +3516,7 @@
       <model name='at0_98'>
         <pose>1.51006 -0.487352 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>1.51006 -0.487352 0.025 0 -0 0</pose>
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@@ -3525,7 +3525,7 @@
       <model name='at0_99'>
         <pose>2 -0.5182 0 0 -0 0</pose>
         <link name='link'>
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+          <pose>2 -0.5182 0.025 0 -0 0</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
@@ -3544,7 +3544,7 @@
     <model name='at0_31'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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           <mass>0.1</mass>
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@@ -3575,7 +3575,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3605,7 +3605,7 @@
     <model name='at0_32'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -3636,7 +3636,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3666,7 +3666,7 @@
     <model name='at0_33'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -3697,7 +3697,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3727,7 +3727,7 @@
     <model name='at0_34'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -3758,7 +3758,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3788,7 +3788,7 @@
     <model name='at0_35'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -3819,7 +3819,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3849,7 +3849,7 @@
     <model name='at0_36'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
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@@ -3880,7 +3880,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3910,7 +3910,7 @@
     <model name='at0_37'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -3941,7 +3941,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -3971,7 +3971,7 @@
     <model name='at0_38'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4002,7 +4002,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4032,7 +4032,7 @@
     <model name='at0_39'>
       <static>0</static>
       <link name='link'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4063,7 +4063,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4093,7 +4093,7 @@
     <model name='at0_40'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4124,7 +4124,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4154,7 +4154,7 @@
     <model name='at0_41'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4185,7 +4185,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4215,7 +4215,7 @@
     <model name='at0_42'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4246,7 +4246,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4276,7 +4276,7 @@
     <model name='at0_43'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4307,7 +4307,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
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+              <size>0.05 0.05 0.025</size>
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@@ -4337,7 +4337,7 @@
     <model name='at0_44'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4368,7 +4368,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
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+              <size>0.05 0.05 0.025</size>
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@@ -4398,7 +4398,7 @@
     <model name='at0_45'>
       <static>0</static>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4429,7 +4429,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
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+              <size>0.05 0.05 0.025</size>
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@@ -4459,7 +4459,7 @@
     <model name='at0_46'>
       <static>0</static>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4490,7 +4490,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
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+              <size>0.05 0.05 0.025</size>
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@@ -4520,7 +4520,7 @@
     <model name='at0_47'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4551,7 +4551,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
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+              <size>0.05 0.05 0.025</size>
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@@ -4581,7 +4581,7 @@
     <model name='at0_48'>
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+        <pose>0 0 0.025 0 -0 0</pose>
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@@ -4612,7 +4612,7 @@
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+              <size>0.05 0.05 0.025</size>
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@@ -4642,7 +4642,7 @@
     <model name='at0_49'>
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@@ -4673,7 +4673,7 @@
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@@ -4703,7 +4703,7 @@
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@@ -4734,7 +4734,7 @@
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@@ -4764,7 +4764,7 @@
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       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -11938,7 +11938,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -11968,7 +11968,7 @@
     <model name='at0_164'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -11999,7 +11999,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12029,7 +12029,7 @@
     <model name='at0_165'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12060,7 +12060,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12090,7 +12090,7 @@
     <model name='at0_166'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12121,7 +12121,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12151,7 +12151,7 @@
     <model name='at0_167'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12182,7 +12182,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12212,7 +12212,7 @@
     <model name='at0_168'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12243,7 +12243,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12273,7 +12273,7 @@
     <model name='at0_169'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12304,7 +12304,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12334,7 +12334,7 @@
     <model name='at0_170'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12365,7 +12365,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12395,7 +12395,7 @@
     <model name='at0_171'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12426,7 +12426,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12456,7 +12456,7 @@
     <model name='at0_172'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12487,7 +12487,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12517,7 +12517,7 @@
     <model name='at0_173'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12548,7 +12548,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12578,7 +12578,7 @@
     <model name='at0_174'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12609,7 +12609,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12639,7 +12639,7 @@
     <model name='at0_175'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12670,7 +12670,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12700,7 +12700,7 @@
     <model name='at0_176'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12731,7 +12731,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12761,7 +12761,7 @@
     <model name='at0_177'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12792,7 +12792,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12822,7 +12822,7 @@
     <model name='at0_178'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12853,7 +12853,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12883,7 +12883,7 @@
     <model name='at0_179'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12914,7 +12914,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -12944,7 +12944,7 @@
     <model name='at0_180'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -12975,7 +12975,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13005,7 +13005,7 @@
     <model name='at0_181'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13036,7 +13036,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13066,7 +13066,7 @@
     <model name='at0_182'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13097,7 +13097,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
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           <surface>
@@ -13127,7 +13127,7 @@
     <model name='at0_183'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13158,7 +13158,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13188,7 +13188,7 @@
     <model name='at0_184'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13219,7 +13219,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13249,7 +13249,7 @@
     <model name='at0_185'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13280,7 +13280,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13310,7 +13310,7 @@
     <model name='at0_186'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13341,7 +13341,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13371,7 +13371,7 @@
     <model name='at0_187'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13402,7 +13402,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
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           <surface>
@@ -13432,7 +13432,7 @@
     <model name='at0_188'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13463,7 +13463,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
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           <surface>
@@ -13493,7 +13493,7 @@
     <model name='at0_189'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13524,7 +13524,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13554,7 +13554,7 @@
     <model name='at0_190'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13585,7 +13585,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13615,7 +13615,7 @@
     <model name='at0_191'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13646,7 +13646,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13676,7 +13676,7 @@
     <model name='at0_192'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13707,7 +13707,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
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@@ -13737,7 +13737,7 @@
     <model name='at0_193'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13768,7 +13768,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
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@@ -13798,7 +13798,7 @@
     <model name='at0_194'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13829,7 +13829,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
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@@ -13859,7 +13859,7 @@
     <model name='at0_195'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13890,7 +13890,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
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@@ -13920,7 +13920,7 @@
     <model name='at0_196'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -13951,7 +13951,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -13981,7 +13981,7 @@
     <model name='at0_197'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -14012,7 +14012,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
             </box>
           </geometry>
           <surface>
@@ -14042,7 +14042,7 @@
     <model name='at0_198'>
       <static>0</static>
       <link name='link'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0.025 0 -0 0</pose>
         <inertial>
           <mass>0.1</mass>
           <inertia>
@@ -14073,7 +14073,7 @@
           <pose>0 0 -0.0125 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.05 0.05 0.05</size>
+              <size>0.05 0.05 0.025</size>
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diff --git a/simulation/worlds/clustered_targets_example.world b/simulation/worlds/clustered_targets_example.world
new file mode 100644
index 00000000..b144279b
--- /dev/null
+++ b/simulation/worlds/clustered_targets_example.world
@@ -0,0 +1,18024 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
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+      <real_time_update_rate>1000</real_time_update_rate>
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+      <background>0.7 0.7 0.7 1</background>
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+      <heading_deg>0</heading_deg>
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+              <uri>model://at0/materials/textures</uri>
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+              <uri>model://at0/materials/textures</uri>
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+              <uri>model://at0/materials/textures</uri>
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+          <pose>-3.71043 -4.30066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at87'>
+        <pose>-3.61043 -4.30066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-3.61043 -4.30066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at88'>
+        <pose>-4.31043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.31043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at89'>
+        <pose>-4.21043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.21043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at9'>
+        <pose>-4.91833 0.609652 0.024997 2.9e-05 2.9e-05 8e-06</pose>
+        <link name='link'>
+          <pose>-4.91833 0.609652 0.024997 2.9e-05 2.9e-05 8e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at90'>
+        <pose>-4.11043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.11043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at91'>
+        <pose>-4.01043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.01043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at92'>
+        <pose>-3.91043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-3.91043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at93'>
+        <pose>-3.81043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-3.81043 -4.20066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at94'>
+        <pose>-3.71043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-3.71043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at95'>
+        <pose>-3.61043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-3.61043 -4.20066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at96'>
+        <pose>-4.31043 -4.10066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.31043 -4.10066 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at97'>
+        <pose>-4.21043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.21043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at98'>
+        <pose>-4.11043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.11043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at99'>
+        <pose>-4.01043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-4.01043 -4.10066 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.13699 -6.28053 1.3828 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/simulation/worlds/powerlaw_targets_example.world b/simulation/worlds/powerlaw_targets_example.world
new file mode 100644
index 00000000..d1ab173b
--- /dev/null
+++ b/simulation/worlds/powerlaw_targets_example.world
@@ -0,0 +1,18024 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <plugin name='SetupWorld' filename='libgazebo_plugins.so'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='at0'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-5.01833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at1'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.91833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at2'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.81833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at3'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.71833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at4'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.61833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at5'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.51833 0.509652 0.025 0 -0 0</pose>
+    </model>
+    <model name='at6'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
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+        <link name='link'>
+          <pose>-4.02367 -4.02003 0.024997 2.9e-05 2.9e-05 4e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at73'>
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+        <link name='link'>
+          <pose>-3.92367 -4.02003 0.024997 2.9e-05 2.9e-05 4e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at76'>
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+        <link name='link'>
+          <pose>-4.02367 -3.92003 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at77'>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at78'>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at79'>
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+        <link name='link'>
+          <pose>-3.72367 -3.92003 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at8'>
+        <pose>-5.01833 0.609652 0.024997 2.9e-05 2.9e-05 8e-06</pose>
+        <link name='link'>
+          <pose>-5.01833 0.609652 0.024997 2.9e-05 2.9e-05 8e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at80'>
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+        <link name='link'>
+          <pose>-5.66909 3.47134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at81'>
+        <pose>-5.56909 3.47134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.56909 3.47134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at82'>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at83'>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at84'>
+        <pose>-5.66909 3.57134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.66909 3.57134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at85'>
+        <pose>-5.56909 3.57134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.56909 3.57134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at86'>
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+        <link name='link'>
+          <pose>-5.46909 3.57134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at87'>
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+        <link name='link'>
+          <pose>-5.36909 3.57134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at88'>
+        <pose>-5.66909 3.67134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.66909 3.67134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at89'>
+        <pose>-5.56909 3.67134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.56909 3.67134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at9'>
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+        <link name='link'>
+          <pose>-4.91833 0.609653 0.024993 -2.9e-05 -2.9e-05 8e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at90'>
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+        <link name='link'>
+          <pose>-5.46909 3.67134 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at91'>
+        <pose>-5.36909 3.67134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.36909 3.67134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at92'>
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+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at93'>
+        <pose>-5.56909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.56909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at94'>
+        <pose>-5.46909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.46909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at95'>
+        <pose>-5.36909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.36909 3.77134 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at96'>
+        <pose>1.70915 -3.83334 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>1.70915 -3.83334 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at97'>
+        <pose>1.80915 -3.83334 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>1.80915 -3.83334 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at98'>
+        <pose>1.90915 -3.83334 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>1.90915 -3.83334 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at99'>
+        <pose>2.00915 -3.83334 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>2.00915 -3.83334 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>8.30997 -10.2575 3.98173 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/simulation/worlds/uniform_targets_example.world b/simulation/worlds/uniform_targets_example.world
new file mode 100644
index 00000000..52876cad
--- /dev/null
+++ b/simulation/worlds/uniform_targets_example.world
@@ -0,0 +1,18024 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <plugin name='SetupWorld' filename='libgazebo_plugins.so'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='at0'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>4e-05</iyy>
+            <iyz>0</iyz>
+            <izz>4e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <transparency>0.1</transparency>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://at0/materials/scripts</uri>
+              <uri>model://at0/materials/textures</uri>
+              <name>at0/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.7</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4.69459 1.45752 0.025 0 -0 0</pose>
+    </model>
+    <model name='at1'>
+      <static>0</static>
+      <link name='link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>4e-05</ixx>
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+      </model>
+      <model name='at91'>
+        <pose>-5.15114 -4.56832 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.15114 -4.56832 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at92'>
+        <pose>-6.61619 -3.36459 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-6.61619 -3.36459 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at93'>
+        <pose>-5.56646 -6.67362 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.56646 -6.67362 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at94'>
+        <pose>-2.30295 0.037833 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-2.30295 0.037833 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at95'>
+        <pose>4.63724 -4.55416 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>4.63724 -4.55416 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at96'>
+        <pose>-5.36749 5.83747 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-5.36749 5.83747 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at97'>
+        <pose>-2.06596 3.47699 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-2.06596 3.47699 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at98'>
+        <pose>-1.78682 3.73791 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-1.78682 3.73791 0.024997 2.9e-05 2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='at99'>
+        <pose>-2.76856 2.52723 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+        <link name='link'>
+          <pose>-2.76856 2.52723 0.024993 -2.9e-05 -2.9e-05 3e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>5.23651 -9.02611 26.1711 -1.98689e-16 1.28764 1.57619</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/src/rqt_rover_gui/src/rover_gui_plugin.cpp b/src/rqt_rover_gui/src/rover_gui_plugin.cpp
index 74379cf8..088baf1e 100644
--- a/src/rqt_rover_gui/src/rover_gui_plugin.cpp
+++ b/src/rqt_rover_gui/src/rover_gui_plugin.cpp
@@ -1633,7 +1633,7 @@ QString RoverGUIPlugin::addUniformTargets()
         while (sim_mgr.isLocationOccupied(proposed_x, proposed_y, target_cluster_size_1_clearance));
 
         emit sendInfoLogMessage("<font color=green>Succeeded.</font>");
-        output = sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(i), proposed_x, proposed_y, 0, target_cluster_size_1_clearance);
+        output = sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(i), proposed_x, proposed_y, 0.025, target_cluster_size_1_clearance);
         progress_dialog.setValue(i*100.0f/256);
         qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
@@ -1681,7 +1681,7 @@ QString RoverGUIPlugin::addClusteredTargets()
             proposed_x2 = proposed_x - (target_cluster_size_1_clearance * 8);
 
             for(int k = 0; k < 8; k++) {
-                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0, target_cluster_size_1_clearance);
+                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0.025, target_cluster_size_1_clearance);
                 proposed_x2 += target_cluster_size_1_clearance;
                 cube_index++;
                 progress_dialog.setValue(cube_index*100.0f/256);
@@ -1739,7 +1739,7 @@ QString RoverGUIPlugin::addPowerLawTargets()
         proposed_x2 = proposed_x - (target_cluster_size_1_clearance * 8);
 
         for(int k = 0; k < 8; k++) {
-            output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0, target_cluster_size_1_clearance);
+            output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0.025, target_cluster_size_1_clearance);
             proposed_x2 += target_cluster_size_1_clearance;
             cube_index++;
             progress_dialog.setValue(cube_index*100.0f/256);
@@ -1769,7 +1769,7 @@ QString RoverGUIPlugin::addPowerLawTargets()
             proposed_x2 = proposed_x - (target_cluster_size_1_clearance * 4);
 
             for(int k = 0; k < 4; k++) {
-                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0, target_cluster_size_1_clearance);
+                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0.025, target_cluster_size_1_clearance);
                 proposed_x2 += target_cluster_size_1_clearance;
                 cube_index++;
                 progress_dialog.setValue(cube_index*100.0f/256);
@@ -1801,7 +1801,7 @@ QString RoverGUIPlugin::addPowerLawTargets()
             proposed_x2 = proposed_x - (target_cluster_size_1_clearance * 2);
 
             for(int k = 0; k < 2; k++) {
-                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0, target_cluster_size_1_clearance);
+                output += sim_mgr.addModel(QString("at")+QString::number(0),  QString("at")+QString::number(cube_index), proposed_x2, proposed_y2, 0.025, target_cluster_size_1_clearance);
                 proposed_x2 += target_cluster_size_1_clearance;
                 cube_index++;
                 progress_dialog.setValue(cube_index*100.0f/256);
@@ -1830,7 +1830,7 @@ QString RoverGUIPlugin::addPowerLawTargets()
         progress_dialog.setValue(i*100.0f/256);
         qApp->processEvents(QEventLoop::ExcludeUserInputEvents);
         emit sendInfoLogMessage("<font color=green>Succeeded.</font>");
-        output+= sim_mgr.addModel(QString("at")+QString::number(0), QString("at")+QString::number(i), proposed_x, proposed_y, 0, target_cluster_size_1_clearance);
+        output+= sim_mgr.addModel(QString("at")+QString::number(0), QString("at")+QString::number(i), proposed_x, proposed_y, 0.025, target_cluster_size_1_clearance);
     }
 
     return output;