diff --git a/crane_plus_gazebo/gui/gui.config b/crane_plus_gazebo/gui/gui.config
index 5bbd025..35bb915 100644
--- a/crane_plus_gazebo/gui/gui.config
+++ b/crane_plus_gazebo/gui/gui.config
@@ -115,8 +115,8 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
   </gz-gui>
-</plugin>
 
+</plugin>
 <!-- World control -->
 <plugin filename="WorldControl" name="World control">
   <gz-gui>
@@ -209,6 +209,23 @@
   <legacy>false</legacy>
 </plugin>
 
+<!-- Translate / rotate -->
+<plugin filename="TransformControl" name="Transform control">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </ignition-gui>
+
+  <!-- disable legacy features used to connect this plugin to GzScene3D -->
+  <legacy>false</legacy>
+</plugin>
+
 <!-- Screenshot -->
 <plugin filename="Screenshot" name="Screenshot">
   <gz-gui>
diff --git a/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py b/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py
index f56fb08..b6ca7ff 100644
--- a/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py
+++ b/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py
@@ -21,6 +21,7 @@
 from launch_ros.actions import SetParameter
 
 
+
 def generate_launch_description():
     world_file = os.path.join(
         get_package_share_directory('crane_plus_gazebo'),