diff --git a/src/wpr_simulation/launch/wpb_navigation_test.launch b/src/wpr_simulation/launch/wpb_navigation_test.launch
index b4b1bca..523e40f 100644
--- a/src/wpr_simulation/launch/wpb_navigation_test.launch
+++ b/src/wpr_simulation/launch/wpb_navigation_test.launch
@@ -2,7 +2,7 @@
 
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find wpr_simulation)/worlds/robot_home.world"/>
+    <arg name="world_name" value="$(find wpr_simulation)/worlds/robot_home001.world"/>
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
     <arg name="gui" value="true"/>
diff --git a/src/wpr_simulation/launch/wpb_stage_robocup_test.launch b/src/wpr_simulation/launch/wpb_stage_robocup_test.launch
index 19fe045..7a60c42 100644
--- a/src/wpr_simulation/launch/wpb_stage_robocup_test.launch
+++ b/src/wpr_simulation/launch/wpb_stage_robocup_test.launch
@@ -2,7 +2,7 @@
 
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find wpr_simulation)/worlds/robot_home.world"/>
+    <arg name="world_name" value="$(find wpr_simulation)/worlds/robot_home001.world"/>
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
     <arg name="gui" value="true"/>
diff --git a/src/wpr_simulation/worlds/robot_home001.world b/src/wpr_simulation/worlds/robot_home001.world
new file mode 100644
index 0000000..380d176
--- /dev/null
+++ b/src/wpr_simulation/worlds/robot_home001.world
@@ -0,0 +1,1362 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>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>
+    <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>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </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>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' 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>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <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='unit_box'>
+      <pose frame=''>-1.38675 -3.32109 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_box_0'>
+      <pose frame=''>-0.022669 -3.61826 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_box_1'>
+      <pose frame=''>1.45626 -3.67278 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_box_2'>
+      <pose frame=''>-2.59735 -3.38321 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_box_3'>
+      <pose frame=''>2.59575 -3.62637 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <state world_name='default'>
+      <sim_time>5632 955000000</sim_time>
+      <real_time>95 483702411</real_time>
+      <wall_time>1755659570 349266384</wall_time>
+      <iterations>94916</iterations>
+      <model name='ground_plane'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>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>
+      <model name='unit_box'>
+        <pose frame=''>-3.17031 -2.55017 0.499995 1e-05 -0 5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-3.17031 -2.55017 0.499995 1e-05 -0 5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -0.011055 -9.78158 0.022108 -0.009414 1e-06</acceleration>
+          <wrench>-0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_0'>
+        <pose frame=''>0.161356 -2.46936 0.499995 1e-05 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0.161356 -2.46936 0.499995 1e-05 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -0.011055 -9.78158 0.022108 -0.009414 1e-06</acceleration>
+          <wrench>-0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_1'>
+        <pose frame=''>2.64595 -2.44645 0.499995 0 1e-05 -1e-05</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>2.64595 -2.44645 0.499995 0 1e-05 -1e-05</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
+          <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_10'>
+        <pose frame=''>-8.4583 6.04823 0.499995 -1e-05 -0 -0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-8.4583 6.04823 0.499995 -1e-05 -0 -0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
+          <wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_11'>
+        <pose frame=''>-7.44963 10.6185 0.499995 1e-05 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-7.44963 10.6185 0.499995 1e-05 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.004709 -0.011055 -9.78158 0.022108 0.009414 -1e-06</acceleration>
+          <wrench>0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_12'>
+        <pose frame=''>-8.48143 0.830968 0.499995 -1e-05 0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-8.48143 0.830968 0.499995 -1e-05 0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 0.011055 -9.78158 -0.022108 -0.009414 -1e-06</acceleration>
+          <wrench>-0.004709 0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_13'>
+        <pose frame=''>-2.34973 5.43718 0.499995 0 1e-05 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-2.34973 5.43718 0.499995 0 1e-05 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05</acceleration>
+          <wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_2'>
+        <pose frame=''>-6.55926 -2.51338 0.499995 0 1e-05 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-6.55926 -2.51338 0.499995 0 1e-05 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
+          <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_3'>
+        <pose frame=''>5.0186 -2.45099 0.499995 1e-05 -0 5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>5.0186 -2.45099 0.499995 1e-05 -0 5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -0.011055 -9.78158 0.022108 -0.009414 1e-06</acceleration>
+          <wrench>-0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_4'>
+        <pose frame=''>7.59718 -1.69959 0.499995 1e-05 -0 -5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>7.59718 -1.69959 0.499995 1e-05 -0 -5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -0.011055 -9.78158 0.022107 -0.009414 1e-06</acceleration>
+          <wrench>-0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_5'>
+        <pose frame=''>-8.45309 3.51545 0.499995 0 1e-05 -5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-8.45309 3.51545 0.499995 0 1e-05 -5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
+          <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_6'>
+        <pose frame=''>1.00407 5.3924 0.499995 -1e-05 -0 5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.00407 5.3924 0.499995 -1e-05 -0 5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
+          <wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_7'>
+        <pose frame=''>8.51788 2.41723 0.499995 1e-05 -0 5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>8.51788 2.41723 0.499995 1e-05 -0 5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.004709 -0.011055 -9.78158 0.022108 -0.009414 1e-06</acceleration>
+          <wrench>-0.004709 -0.011055 -9.78158 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_8'>
+        <pose frame=''>8.45243 0.233215 0.499995 0 1e-05 -5e-06</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>8.45243 0.233215 0.499995 0 1e-05 -5e-06</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
+          <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_9'>
+        <pose frame=''>2.99476 5.42941 0.499995 0 -1e-05 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>2.99476 5.42941 0.499995 0 -1e-05 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>-0.010615 0.006191 -9.78231 -0.012424 -0.021225 1.8e-05</acceleration>
+          <wrench>-0.010615 0.006191 -9.78231 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder'>
+        <pose frame=''>-4.39513 10.7016 0.499994 -4e-06 -2e-06 -0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-4.39513 10.7016 0.499994 -4e-06 -2e-06 -0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder_0'>
+        <pose frame=''>-0.97678 10.7056 0.499998 3e-06 -2e-06 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>-0.97678 10.7056 0.499998 3e-06 -2e-06 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder_1'>
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+        <view_controller>orbit</view_controller>
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+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <model name='unit_cylinder_2'>
+      <pose frame=''>-2.51095 2.45625 0.5 0 -0 0</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.145833</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.145833</iyy>
+            <iyz>0</iyz>
+            <izz>0.125</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+  </world>
+</sdf>
\ No newline at end of file