diff --git a/assets/images/robot.png b/assets/images/robot.png
index fc8b613..ecf4c46 100644
Binary files a/assets/images/robot.png and b/assets/images/robot.png differ
diff --git a/assets/user_readme.md b/assets/user_readme.md
index 2f00f98..3dc1efa 100644
--- a/assets/user_readme.md
+++ b/assets/user_readme.md
@@ -168,11 +168,12 @@ The robot has a number of boards attached to it that can be interacted with usin
 These boards include:
 
 - Power Board (serial number: `PWR`)
+    - OUT_H0 controls the vacuum pump. Enabling this allows the robot to pick up the token.
 - Motor Board (serial number: `MOT`)
     - The left wheel is connected to motor 0.
     - The right wheel is connected to motor 1.
 - Servo Board (serial number: `SERVO`)
-    - No servos are attached to the simulated robot.
+    - Servo 0 controls the lifter. Setting the position to -1 will move the lifter to the bottom position and a position of 1 will move the lifter to the top position.
 - Arduino Board (serial number: `Arduino1`)
     - The attached sensors are covered in the [Sensors](#attached-sensors) section.
 - Camera (serial number: `Camera`)
@@ -254,6 +255,15 @@ If you see a message saying that Python cannot be found that looks similar to th
 As well as the guidance above, there are a few other points to note when using the simulator.
 These can help you to understand what is happening and how to get the most out of the simulator.
 
+### Using Other Zones
+
+If the arena has multiple starting zones, you can run multiple robots in the simulator.
+To test how your robot behaves in each starting zone of the arena, you can copy your robot's code to run in each corner.
+
+In the folder where you extracted the simulator, alongside the `zone_0` folder, you may have other `zone_<number>` folders.
+Such as `zone_1`, `zone_2`, etc.
+Each of these folders can contain a `robot.py` file that will be run in the corresponding starting zone of the arena.
+
 ### Performance Optimisations
 
 The default settings work for most users however if you are using a less powerful computer or one without a dedicated graphics card (as is the case on many laptops), you may wish to adjust the graphics settings to enable the simulation to run faster.
diff --git a/example_robots/keyboard_robot.py b/example_robots/keyboard_robot.py
index 3d15285..a013942 100644
--- a/example_robots/keyboard_robot.py
+++ b/example_robots/keyboard_robot.py
@@ -1,10 +1,9 @@
 import math
 
 from controller import Keyboard
-from sr.robot3 import A0, A1, A2, Robot
+from sr.robot3 import A0, A1, A2, OUT_H0, Colour, Robot
 
-# Any keys still pressed in the following period will be handled again
-# leading to rprinting sensors multiple times
+# Keyboard sampling period in milliseconds
 KEYBOARD_SAMPLING_PERIOD = 100
 NO_KEY_PRESSED = -1
 
@@ -15,7 +14,11 @@
     "right": (ord("D"), ord("L")),
     "sense": (ord("Q"), ord("U")),
     "see": (ord("E"), ord("O")),
-    "led": (ord("R"), ord("P")),
+    "led": (ord("Z"), ord("M")),
+    "sucker_enable": (ord("X"), ord(",")),
+    "sucker_disable": (ord("C"), ord(".")),
+    "lift_up": (ord("R"), ord("P")),
+    "lift_down": (ord("F"), ord(";")),
     "boost": (Keyboard.SHIFT, Keyboard.CONTROL),
     "angle_unit": (ord("B"), ord("B")),
 }
@@ -88,12 +91,12 @@ def print_sensors(robot: Robot) -> None:
 
     print("Touch sensor readings:")
     for pin, name in touch_sensor_names.items():
-        touching = robot.arduino.pins[pin].digital_value
+        touching = robot.arduino.pins[pin].digital_read()
         print(f"{pin} {name: <6}: {touching}")
 
     print("Reflectance sensor readings:")
     for Apin, name in reflectance_sensor_names.items():
-        reflectance = robot.arduino.pins[Apin].analog_value
+        reflectance = robot.arduino.pins[Apin].analog_read()
         print(f"{Apin} {name: <12}: {reflectance:.2f} V")
 
 
@@ -104,8 +107,9 @@ def print_camera_detection(robot: Robot) -> None:
         for marker in markers:
             print(f" #{marker.id}")
             print(
-                f" Position: {marker.distance:.0f} mm, azi: {angle_str(marker.azimuth)}, "
-                f"elev: {angle_str(marker.elevation)}",
+                f" Position: {marker.position.distance:.0f} mm, "
+                f"{angle_str(marker.position.horizontal_angle)} right, "
+                f"{angle_str(marker.position.vertical_angle)} up",
             )
             yaw, pitch, roll = marker.orientation
             print(
@@ -120,10 +124,16 @@ def print_camera_detection(robot: Robot) -> None:
 
 
 robot = Robot()
-
 keyboard = KeyboardInterface()
+lift_height = robot.servo_board.servos[0].position
+
+# Automatically set the zone controls based on the robot's zone
+# Alternatively, you can set this manually
+# ZONE_CONTROLS = 0
+ZONE_CONTROLS = robot.zone
 
-key_sense = CONTROLS["sense"][robot.zone]
+assert ZONE_CONTROLS < len(CONTROLS["forward"]), \
+    "No controls defined for this zone, alter the ZONE_CONTROLS variable to use in this zone."
 
 print(
     "Note: you need to click on 3D viewport for keyboard events to be picked "
@@ -138,36 +148,58 @@ def print_camera_detection(robot: Robot) -> None:
     keys = keyboard.process_keys()
 
     # Actions that are run continuously while the key is held
-    if CONTROLS["forward"][robot.zone] in keys["held"]:
+    if CONTROLS["forward"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.5
         right_power += 0.5
 
-    if CONTROLS["reverse"][robot.zone] in keys["held"]:
+    if CONTROLS["reverse"][ZONE_CONTROLS] in keys["held"]:
         left_power += -0.5
         right_power += -0.5
 
-    if CONTROLS["left"][robot.zone] in keys["held"]:
+    if CONTROLS["left"][ZONE_CONTROLS] in keys["held"]:
         left_power -= 0.25
         right_power += 0.25
 
-    if CONTROLS["right"][robot.zone] in keys["held"]:
+    if CONTROLS["right"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.25
         right_power -= 0.25
 
-    if CONTROLS["boost"][robot.zone] in keys["held"]:
+    if CONTROLS["boost"][ZONE_CONTROLS] in keys["held"]:
         boost = True
 
+    if CONTROLS["lift_up"][ZONE_CONTROLS] in keys["held"]:
+        # constrain to [-1, 1]
+        lift_height = max(min(lift_height + 0.05, 1), -1)
+        robot.servo_board.servos[0].position = lift_height
+
+    if CONTROLS["lift_down"][ZONE_CONTROLS] in keys["held"]:
+        # constrain to [-1, 1]
+        lift_height = max(min(lift_height - 0.05, 1), -1)
+        robot.servo_board.servos[0].position = lift_height
+
     # Actions that are run once when the key is pressed
-    if CONTROLS["sense"][robot.zone] in keys["pressed"]:
+    if CONTROLS["sense"][ZONE_CONTROLS] in keys["pressed"]:
         print_sensors(robot)
 
-    if CONTROLS["see"][robot.zone] in keys["pressed"]:
+    if CONTROLS["see"][ZONE_CONTROLS] in keys["pressed"]:
         print_camera_detection(robot)
 
-    if CONTROLS["led"][robot.zone] in keys["pressed"]:
-        pass
+    if CONTROLS["sucker_enable"][ZONE_CONTROLS] in keys["pressed"]:
+        robot.power_board.outputs[OUT_H0].is_enabled = 1
+
+    if CONTROLS["sucker_disable"][ZONE_CONTROLS] in keys["pressed"]:
+        robot.power_board.outputs[OUT_H0].is_enabled = 0
+
+    if CONTROLS["led"][ZONE_CONTROLS] in keys["pressed"]:
+        robot.kch.leds[0].colour = Colour.MAGENTA
+        robot.kch.leds[1].colour = Colour.MAGENTA
+        robot.kch.leds[2].colour = Colour.MAGENTA
+    elif CONTROLS["led"][ZONE_CONTROLS] in keys["released"]:
+        robot.kch.leds[0].colour = Colour.OFF
+        robot.kch.leds[1].colour = Colour.OFF
+        robot.kch.leds[2].colour = Colour.OFF
 
-    if CONTROLS["angle_unit"][robot.zone] in keys["pressed"]:
+    if CONTROLS["angle_unit"][ZONE_CONTROLS] in keys["pressed"]:
         USE_DEGREES = not USE_DEGREES
         print(f"Angle unit set to {'degrees' if USE_DEGREES else 'radians'}")
 
diff --git a/simulator/controllers/usercode_runner/usercode_runner.py b/simulator/controllers/usercode_runner/usercode_runner.py
index 6621c75..c090217 100644
--- a/simulator/controllers/usercode_runner/usercode_runner.py
+++ b/simulator/controllers/usercode_runner/usercode_runner.py
@@ -48,7 +48,7 @@ def get_robot_file(robot_zone: int) -> Path:
 
     # Check if the robot file exists
     if not robot_file.exists():
-        raise FileNotFoundError(f"No robot controller found for zone {robot_file}")
+        raise FileNotFoundError(f"No robot code to run for zone {robot_zone}")
 
     return robot_file
 
@@ -169,8 +169,9 @@ def main() -> bool:
         robot_file = get_robot_file(zone)
     except FileNotFoundError as e:
         print(e.args[0])
+        robot.step()
         # Not having a robot file is not an error in dev mode
-        return game_mode == 'comp'
+        return game_mode != 'comp'
 
     # Setup log file
     prefix_and_tee_streams(
diff --git a/simulator/environment.py b/simulator/environment.py
index 65af930..b512acc 100644
--- a/simulator/environment.py
+++ b/simulator/environment.py
@@ -11,7 +11,7 @@
 MODULES_ROOT = SIM_ROOT / 'modules'
 GAME_MODE_FILE = SIM_ROOT / 'mode.txt'
 
-NUM_ZONES = 1
+NUM_ZONES = 4
 
 
 def setup_environment() -> None:
diff --git a/simulator/modules/sbot_interface/devices/motor.py b/simulator/modules/sbot_interface/devices/motor.py
index 46c579a..4cba116 100644
--- a/simulator/modules/sbot_interface/devices/motor.py
+++ b/simulator/modules/sbot_interface/devices/motor.py
@@ -97,7 +97,7 @@ def __init__(self, device_name: str) -> None:
         self._device.setVelocity(0)
         self._max_speed = self._device.getMaxVelocity()
         # Limit the torque the motor can apply to have realistic acceleration
-        self._device.setAvailableTorque(1)
+        self._device.setAvailableTorque(2)
 
     def disable(self) -> None:
         """Disable the motor."""
diff --git a/simulator/modules/sbot_interface/devices/power.py b/simulator/modules/sbot_interface/devices/power.py
index 849914d..71b06d1 100644
--- a/simulator/modules/sbot_interface/devices/power.py
+++ b/simulator/modules/sbot_interface/devices/power.py
@@ -4,7 +4,7 @@
 from abc import ABC, abstractmethod
 from typing import Callable
 
-from sbot_interface.devices.util import get_globals
+from sbot_interface.devices.util import WebotsDevice, get_globals, get_robot_device
 
 
 class Output:
@@ -36,6 +36,36 @@ def get_current(self) -> int:
         return 0
 
 
+class ConnectorOutput(Output):
+    """
+    A class to represent a power output that controls a webots connector device.
+
+    :param device_name: The name of the device in webots.
+    :param downstream_current: A function to get the current draw of the downstream device.
+    """
+
+    def __init__(
+        self,
+        device_name: str,
+        downstream_current: Callable[[], int] | None = None,
+    ) -> None:
+        super().__init__(downstream_current)
+        g = get_globals()
+        self._device = get_robot_device(g.robot, device_name, WebotsDevice.Connector)
+        self._enabled = False
+
+    def set_output(self, enable: bool) -> None:
+        """Set the output state."""
+        if enable:
+            self._device.lock()  # type: ignore[no-untyped-call]
+        else:
+            self._device.unlock()  # type: ignore[no-untyped-call]
+
+    def get_output(self) -> bool:
+        """Get the output state."""
+        return self._device.isLocked()
+
+
 class BaseBuzzer(ABC):
     """The base class for the buzzer device."""
 
diff --git a/simulator/modules/sbot_interface/devices/servo.py b/simulator/modules/sbot_interface/devices/servo.py
index a25da32..92e7e07 100644
--- a/simulator/modules/sbot_interface/devices/servo.py
+++ b/simulator/modules/sbot_interface/devices/servo.py
@@ -4,7 +4,10 @@
 The servo will apply a small amount of variation to the power setting to simulate
 inaccuracies in the servo.
 """
+from __future__ import annotations
+
 from abc import ABC, abstractmethod
+from typing import TYPE_CHECKING
 
 from sbot_interface.devices.util import (
     WebotsDevice,
@@ -14,6 +17,9 @@
     map_to_range,
 )
 
+if TYPE_CHECKING:
+    from controller import PositionSensor
+
 MAX_POSITION = 2000
 MIN_POSITION = 1000
 
@@ -97,8 +103,11 @@ def __init__(self, device_name: str) -> None:
         self._enabled = False
         g = get_globals()
         self._device = get_robot_device(g.robot, device_name, WebotsDevice.Motor)
+        self._pos_sensor: PositionSensor | None = self._device.getPositionSensor()  # type: ignore[no-untyped-call]
         self._max_position = self._device.getMaxPosition()
         self._min_position = self._device.getMinPosition()
+        if self._pos_sensor is not None:
+            self._pos_sensor.enable(g.timestep)
 
     def disable(self) -> None:
         """Disable the servo."""
@@ -112,7 +121,7 @@ def set_position(self, value: int) -> None:
         """
         # Apply a small amount of variation to the power setting to simulate
         # inaccuracies in the servo
-        value = int(add_jitter(value, (MIN_POSITION, MAX_POSITION)))
+        value = int(add_jitter(value, (MIN_POSITION, MAX_POSITION), std_dev_percent=0.5))
 
         self._device.setPosition(map_to_range(
             value,
@@ -128,6 +137,12 @@ def get_position(self) -> int:
 
         Position is the pulse width in microseconds.
         """
+        if self._pos_sensor is not None:
+            self.position = int(map_to_range(
+                self._pos_sensor.getValue(),
+                (self._min_position + 0.001, self._max_position - 0.001),
+                (MIN_POSITION, MAX_POSITION),
+            ))
         return self.position
 
     def get_current(self) -> int:
diff --git a/simulator/modules/sbot_interface/devices/util.py b/simulator/modules/sbot_interface/devices/util.py
index 9724b74..a160215 100644
--- a/simulator/modules/sbot_interface/devices/util.py
+++ b/simulator/modules/sbot_interface/devices/util.py
@@ -13,6 +13,7 @@
     Accelerometer,
     Camera,
     Compass,
+    Connector,
     DistanceSensor,
     Emitter,
     Gyro,
@@ -45,6 +46,7 @@ class WebotsDevice:
     Accelerometer = Accelerometer
     Camera = Camera
     Compass = Compass
+    Connector = Connector
     DistanceSensor = DistanceSensor
     Emitter = Emitter
     GPS = GPS
@@ -152,6 +154,6 @@ def add_jitter(
     std_dev = value * (std_dev_percent / 100.0)
     mean_offset = value * (offset_percent / 100.0)
 
-    error = value + gauss(mean_offset, std_dev)
+    error = gauss(mean_offset, std_dev)
     # Ensure the error is within the range
     return max(value_range[0], min(value_range[1], value + error))
diff --git a/simulator/modules/sbot_interface/setup.py b/simulator/modules/sbot_interface/setup.py
index 5f022b0..b1b8dc6 100644
--- a/simulator/modules/sbot_interface/setup.py
+++ b/simulator/modules/sbot_interface/setup.py
@@ -26,8 +26,8 @@
 from sbot_interface.devices.camera import Camera
 from sbot_interface.devices.led import Led, NullLed
 from sbot_interface.devices.motor import Motor
-from sbot_interface.devices.power import NullBuzzer, Output, StartButton
-from sbot_interface.devices.servo import NullServo
+from sbot_interface.devices.power import ConnectorOutput, NullBuzzer, Output, StartButton
+from sbot_interface.devices.servo import NullServo, Servo
 from sbot_interface.socket_server import Board, DeviceServer, SocketServer
 
 
@@ -46,7 +46,10 @@ def setup_devices(log_level: int | str = logging.WARNING) -> SocketServer:
     # this is the configuration of devices connected to the robot
     devices: list[Board] = [
         PowerBoard(
-            outputs=[Output() for _ in range(7)],
+            outputs=(
+                [ConnectorOutput('vacuum sucker')]
+                + [Output() for _ in range(6)]
+            ),
             buzzer=NullBuzzer(),
             button=StartButton(),
             leds=(NullLed(), NullLed()),
@@ -60,7 +63,10 @@ def setup_devices(log_level: int | str = logging.WARNING) -> SocketServer:
             asset_tag='MOT',
         ),
         ServoBoard(
-            servos=[NullServo() for _ in range(8)],
+            servos=(
+                [Servo('vacuum sucker motor::main')]
+                + [NullServo() for _ in range(7)]
+            ),
             asset_tag='SERVO',
         ),
         LedBoard(
diff --git a/simulator/protos/SR2025bot.proto b/simulator/protos/SR2025bot.proto
new file mode 100755
index 0000000..c05edcc
--- /dev/null
+++ b/simulator/protos/SR2025bot.proto
@@ -0,0 +1,204 @@
+#VRML_SIM R2023b utf8
+EXTERNPROTO "./robot/MotorAssembly.proto"
+EXTERNPROTO "./robot/Caster.proto"
+EXTERNPROTO "./robot/RobotCamera.proto"
+EXTERNPROTO "./robot/UltrasoundModule.proto"
+EXTERNPROTO "./robot/RGBLed.proto"
+EXTERNPROTO "./robot/ReflectanceSensor.proto"
+EXTERNPROTO "./robot/Flag.proto"
+EXTERNPROTO "./robot/BumpSensor.proto"
+EXTERNPROTO "./robot/VacuumSucker.proto"
+
+PROTO SR2025bot [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString controller "<generic>"
+  field MFString controllerArgs []
+  field SFString customData ""
+  field SFColor flagColour 1 1 1
+] {
+  Robot {
+    name IS name
+    translation IS translation
+    rotation IS rotation
+    controller IS controller
+    controllerArgs IS controllerArgs
+    customData IS customData
+    children [
+      Pose {
+        translation 0 0 0.049
+        children [
+          MotorAssembly {
+            name "left motor"
+            rotation 0 0 1 3.1415
+            reversed TRUE
+            translation 0 0.14 0
+          }
+          MotorAssembly {
+            name "right motor"
+            translation 0 -0.14 0
+          }
+          Caster {
+            name "caster"
+            translation -0.15 0 -0.045
+          }
+          DEF BASE Solid {
+            translation -0.065 0 -0.02
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.757 0.604 0.424
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.25 0.25 0.02
+                }
+              }
+            ]
+            name "Chassis"
+            boundingObject DEF BASE_GEO Box {
+              size 0.25 0.25 0.02
+            }
+            physics Physics {
+              density 2000  # 66% Aluminium
+            }
+          }
+          DEF BOARD Solid {
+            translation -0.05 0 0
+            rotation 0 0 1 1.5708
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0 0 0
+                  roughness 1
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.08 0.06 0.02
+                }
+              }
+            ]
+            name "Board"
+          }
+          DEF STABILISER Solid {
+            translation -0.16 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.8 0.8 0.75
+                  roughness 1
+                  metalness 0
+                }
+                geometry DEF WEIGHT_GEO Box {
+                  size 0.04 0.15 0.02
+                }
+              }
+            ]
+            name "Chassis weight"
+            boundingObject USE WEIGHT_GEO
+            physics Physics {
+              density 8000  # Steel
+            }
+          }
+          RobotCamera {
+            name "camera"
+            translation 0.05 0 0.03
+          }
+          Solid {
+            translation 0.03 0 0
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.4 0.4 0.4
+                  metalness 0
+                }
+                geometry Box {
+                  size 0.01 0.01 0.03
+                }
+              }
+            ]
+            name "Camera riser"
+          }
+          VacuumSucker {
+            name "vacuum sucker"
+            translation 0.01 0 -0.02
+          }
+          UltrasoundModule {
+            name "ultrasound front"
+            translation 0.04 0 0
+          }
+          UltrasoundModule {
+            name "ultrasound left"
+            translation -0.08 0.12 0
+            rotation 0 0 1 1.5708
+          }
+          UltrasoundModule {
+            name "ultrasound back"
+            translation -0.18 0 0
+            rotation 0 0 1 3.1416
+          }
+          UltrasoundModule {
+            name "ultrasound right"
+            translation -0.08 -0.12 0
+            rotation 0 0 1 -1.5708
+          }
+          RGBLed {
+            name "led 1"
+            translation -0.11 0.08 -0.008
+          }
+          RGBLed {
+            name "led 2"
+            translation -0.11 0 -0.008
+          }
+          RGBLed {
+            name "led 3"
+            translation -0.11 -0.08 -0.008
+          }
+          ReflectanceSensor {
+            name "left reflectance sensor"
+            translation 0.03 0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "center reflectance sensor"
+            translation 0.03 0 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "right reflectance sensor"
+            translation 0.03 -0.02 -0.03
+            rotation 0 0 1 1.5708
+          }
+          BumpSensor {
+            name "front left bump sensor"
+            translation 0.06 0.06 -0.02
+          }
+          BumpSensor {
+            name "front right bump sensor"
+            translation 0.06 -0.06 -0.02
+          }
+          BumpSensor {
+            name "rear left bump sensor"
+            translation -0.19 0.06 -0.02
+          }
+          BumpSensor {
+            name "rear right bump sensor"
+            translation -0.19 -0.06 -0.02
+          }
+          Flag {
+            name "flag"
+            translation 0.03 0.07 0.09
+            flagColour IS flagColour
+          }
+        ]
+      }
+    ]
+    boundingObject Pose {
+      translation -0.065 0 0.029
+      children [USE BASE_GEO]
+    }
+    physics Physics {}
+  }
+}
diff --git a/simulator/protos/arena/Arena.proto b/simulator/protos/arena/Arena.proto
index 01ebf22..0754203 100755
--- a/simulator/protos/arena/Arena.proto
+++ b/simulator/protos/arena/Arena.proto
@@ -59,6 +59,7 @@ PROTO Arena [
         children [
           Solid {  # Floor
             translation 0 -0.002 0
+            rotation 0 0 1 3.1416
             children [
               DEF FLOOR Shape {
                 appearance Appearance {
diff --git a/simulator/protos/arena/Pillar.proto b/simulator/protos/arena/Pillar.proto
new file mode 100755
index 0000000..88388d6
--- /dev/null
+++ b/simulator/protos/arena/Pillar.proto
@@ -0,0 +1,76 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+# tags: nonDeterministic
+
+EXTERNPROTO "../props/Marker.proto"
+
+PROTO Pillar [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 1 0 0
+  field SFVec3f size 0.13 0.13 0.13
+  field SFVec2f {0.08 0.08, 0.15 0.15, 0.2 0.2} marker_size 0.08 0.08
+  field SFFloat marker_height 0.065
+  field SFColor colour 0.9 0.9 0.9
+  field SFString marker "0"
+  field SFString model ""
+  field MFString texture_url []
+]
+{
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Solid {
+        translation 0 0 %<= fields.size.value.z / 2 >%
+        children [
+          Shape {
+            appearance DEF PILLAR_APPEARANCE PBRAppearance {
+              baseColor IS colour
+              metalness 0
+              roughness 1
+            }
+            geometry DEF PILLAR_GEOMETRY Box {
+              size IS size
+            }
+          }
+          Marker {
+            translation 0 %<= fields.size.value.y / 2 + 0.001 >% %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 1 0 0 -1.5708
+            size IS marker_size
+            name "front"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation 0 %<= -(fields.size.value.y / 2 + 0.001) >% %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 1 0 0 1.5708
+            size IS marker_size
+            name "back"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation %<= fields.size.value.x / 2 + 0.001 >% 0 %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 0 1 0 1.5708
+            size IS marker_size
+            name "side-1"
+            model IS marker
+            texture_url IS texture_url
+          }
+          Marker {
+            translation %<= -(fields.size.value.x / 2 + 0.001) >% 0 %<= fields.marker_height.value - (fields.size.value.z / 2) >%
+            rotation 0 1 0 -1.5708
+            size IS marker_size
+            name "side-2"
+            model IS marker
+            texture_url IS texture_url
+          }
+        ]
+        name IS model
+        model IS model
+        boundingObject USE PILLAR_GEOMETRY
+        locked TRUE
+      }
+    ]
+  }
+}
diff --git a/simulator/protos/props/BoxToken.proto b/simulator/protos/props/BoxToken.proto
index f84f25c..461d7fa 100755
--- a/simulator/protos/props/BoxToken.proto
+++ b/simulator/protos/props/BoxToken.proto
@@ -7,13 +7,15 @@ EXTERNPROTO "./Marker.proto"
 PROTO BoxToken [
   field SFVec3f translation 0 0 0
   field SFRotation rotation 0 1 0 0
-  field SFVec3f size 0.12 0.12 0.12
+  field SFVec3f size 0.13 0.13 0.13
   field SFVec2f {0.08 0.08, 0.15 0.15, 0.2 0.2} marker_size 0.08 0.08
   field SFColor colour 0.7 0.55 0.35
   field SFString marker "0"
   field SFString model ""
-  field SFFloat mass 0.100
+  field SFFloat mass 0.080
   field MFString texture_url []
+  field SFFloat connectorStrength 35
+  field SFFloat connectorShear 20
 ]
 {
   Solid {
@@ -78,6 +80,39 @@ PROTO BoxToken [
         model IS marker
         texture_url IS texture_url
       }
+      # Shape {
+      #   appearance PBRAppearance {
+      #     transparency 0.4
+      #     baseColor 1 0 0
+      #   }
+      #   geometry Sphere {
+      #     radius %<= fields.size.value.x / 2 * 1.4 >%
+      #     subdivision 5
+      #   }
+      # }
+      Connector {
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Front Connector"
+      }
+      Connector {
+        rotation 0 0 1 3.1416
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Rear Connector"
+      }
     ]
     name IS model
     model IS model
diff --git a/simulator/protos/robot/BumpSensor.proto b/simulator/protos/robot/BumpSensor.proto
index c2b8927..f567512 100755
--- a/simulator/protos/robot/BumpSensor.proto
+++ b/simulator/protos/robot/BumpSensor.proto
@@ -17,12 +17,12 @@ PROTO BumpSensor [
           roughness 0.7
         }
         geometry DEF BUMPER Box {
-          size 0.01 0.05 0.01
+          size 0.01 0.07 0.01
         }
       }
     ]
     boundingObject Box {
-      size 0.03 0.05 0.01
+      size 0.03 0.07 0.01
     }
   }
 }
\ No newline at end of file
diff --git a/simulator/protos/robot/VacuumSucker.proto b/simulator/protos/robot/VacuumSucker.proto
new file mode 100644
index 0000000..6baffca
--- /dev/null
+++ b/simulator/protos/robot/VacuumSucker.proto
@@ -0,0 +1,201 @@
+#VRML_SIM R2023b utf8
+# template language: javascript
+
+PROTO VacuumSucker [
+  field SFString name ""
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFFloat max_height 0.35
+  field SFFloat forward_reach 0.12
+] {
+  Pose {
+    translation IS translation
+    rotation IS rotation
+    children [
+      Pose {
+        translation 0 0 %<= fields.max_height.value / 4 >%
+        children [
+          DEF BASE Solid {
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.7 0.7 0.7
+                  roughness 1
+                  metalness 0
+                }
+                geometry DEF BASE_GEO Box {
+                  size 0.06 0.06 %<= fields.max_height.value / 2 >%
+                }
+              }
+            ]
+            name "Tower Base"
+            boundingObject USE BASE_GEO
+            physics Physics {
+              density 500  # Hollow Aluminium
+            }
+          }
+          SliderJoint {
+            jointParameters JointParameters {
+              axis 0 0 1
+              minStop 0
+              maxStop IS max_height
+              position 0.01
+            }
+            device [
+              LinearMotor {
+                name %<= "\"" + fields.name.value + " motor::main\"" >%
+                minPosition 0
+                maxPosition IS max_height
+                maxVelocity 2
+                sound ""
+              }
+              PositionSensor {
+                name %<= "\"" + fields.name.value + " position sensor\"" >%
+              }
+            ]
+            endPoint Solid {
+              translation %<= (fields.forward_reach.value + 0.055) - 0.05 >% 0 %<= fields.max_height.value / 4 - 0.05 >%
+              children [
+                Solid {
+                  children [
+                    Pose {
+                      translation %<= 0.025 - (fields.forward_reach.value + 0.055) / 2 >% 0 0.08
+                      children [
+                        Shape {  # Horizontal arm
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry Box {
+                            size %<= fields.forward_reach.value + 0.055 >% 0.05 0.02
+                          }
+                        }
+                      ]
+                    }
+                    Pose {
+                      translation %<= 0.05 - (fields.forward_reach.value + 0.055) >% 0 %<= 0.06 - (fields.max_height.value / 4) >%
+                      children [
+                        Shape {  # Column
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry DEF COLUMN_GEO Box {
+                            size 0.05 0.05 %<= fields.max_height.value / 2 + 0.02 >%
+                          }
+                        }
+                      ]
+                    }
+                    Pose {
+                      translation 0 0 0.045
+                      children [
+                        Shape {
+                          appearance PBRAppearance {
+                            baseColor 0.7 0.7 0.7
+                            roughness 1
+                            metalness 0
+                          }
+                          geometry Box {
+                            size 0.05 0.05 0.05
+                          }
+                        }
+                      ]
+                    }
+                  ]
+                  name "Armature"
+                  boundingObject Pose {
+                    translation %<= 0.05 - (fields.forward_reach.value + 0.055) >% 0 %<= 0.06 - (fields.max_height.value / 4) >%
+                    children [USE COLUMN_GEO]
+                  }
+                  physics Physics {
+                    density 200  # Hollow Aluminium
+                  }
+                }
+                DEF SUCKER Shape {
+                  appearance PBRAppearance {
+                    baseColor 0 0 0
+                    roughness 1
+                    metalness 1
+                  }
+                  geometry DEF hook_geo Box {
+                    size 0.05 0.05 0.04
+                  }
+                  castShadows FALSE
+                }
+                Connector {
+                  # Shift origin to near the lower face of the hook shape
+                  translation 0 0 -0.01
+                  rotation 0 1 0 3.1416
+                  type "active"
+                  distanceTolerance 0.094  # (0.14 / 2) * sqrt(2)
+                  axisTolerance 3.1415
+                  rotationTolerance 0
+                  numberOfRotations 0
+                  tensileStrength 35
+                  shearStrength 20
+                  snap FALSE
+                  autoLock TRUE
+                  name IS name
+                  unilateralUnlock TRUE
+                  unilateralLock TRUE
+                }
+              ]
+              boundingObject Pose {
+                translation 0 0 0.005
+                children [
+                  Box {
+                    size 0.05 0.05 0.03
+                  }
+                ]
+              }
+              physics Physics {
+                density 1500  # rubber
+              }
+            }
+          }
+          # Secondary slider joint for telescoping column
+          SliderJoint {
+            jointParameters JointParameters {
+              axis 0 0 1
+              minStop 0
+              maxStop %<= fields.max_height.value / 2 >%
+              position 0.005
+            }
+            device [
+              LinearMotor {
+                name %<= "\"" + fields.name.value + " motor::extension\"" >%
+                minPosition 0
+                maxPosition %<= fields.max_height.value / 2 >%
+                maxVelocity 1
+                sound ""
+                multiplier 0.5
+              }
+            ]
+            endPoint Solid {
+              translation 0 0 0.005
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0.7 0.7 0.7
+                    roughness 1
+                    metalness 0
+                  }
+                  geometry DEF COLUMN_GEO Box {
+                    size 0.055 0.055 %<= fields.max_height.value / 2 + 0.01 >%
+                  }
+                }
+              ]
+              name "Extension"
+              boundingObject USE COLUMN_GEO
+              physics Physics {
+                density 200  # Hollow Aluminium
+              }
+            }
+          }
+        ]
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/simulator/worlds/arena.wbt b/simulator/worlds/arena.wbt
index 17e3fc0..321f53f 100755
--- a/simulator/worlds/arena.wbt
+++ b/simulator/worlds/arena.wbt
@@ -1,270 +1,550 @@
 #VRML_SIM R2023b utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
 EXTERNPROTO "../protos/arena/Arena.proto"
-EXTERNPROTO "../protos/arena/Deck.proto"
-EXTERNPROTO "../protos/arena/TriangleDeck.proto"
-EXTERNPROTO "../protos/props/Can.proto"
+EXTERNPROTO "../protos/arena/Pillar.proto"
+EXTERNPROTO "../protos/props/BoxToken.proto"
 EXTERNPROTO "../protos/props/Marker.proto"
-EXTERNPROTO "../protos/SRObot.proto"
+EXTERNPROTO "../protos/SR2025bot.proto"
 
 WorldInfo {
   basicTimeStep 8
 }
 Viewpoint {
   orientation 0.43231 0.43231 -0.79134 1.80272
-  position 0 9.1 13.8
+  position 0 6.67 9.87
 }
 DEF AMBIENT Background {
   skyColor [
     0.4 0.4 0.4
   ]
-  luminosity 1.6
+  luminosity 1
 }
-TexturedBackgroundLight {
+DirectionalLight {
+  ambientIntensity 1
+  direction -0.1 -0.2 -1
+  color 0.95 0.95 1
+  intensity 1.5
+  on TRUE
+  castShadows TRUE
 }
 
-SRObot {
-  name "robot"
-  translation 0.45 1.95 0
-  rotation 0 0 1 3.1415
-  flagColour 1 0 0
+DEF ROBOT0 SR2025bot {
+  name "robot0"
+  translation 2.375 -2.375 0
+  rotation 0 0 1 2.3562
+  flagColour 0 1 0
   controllerArgs ["0"]
   controller "usercode_runner"
   customData "start"
 }
-
-Arena {
-  size 5.4 5.4
-  locked TRUE
-  floorTexture ["arena_floor.png"]
-}
-Deck {
-  name "TL deck"
-  size 1.2192 1.2192
-  translation 2.0904 -2.0904 0.085
-  locked TRUE
-}
-Deck {
-  name "BR deck"
-  size 1.2192 1.2192
-  translation -2.0904 2.0904 0.085
-  locked TRUE
-}
-Deck {
-  name "CR deck"
-  size 1.2192 1.2192
-  translation -0.6096 -0.6096 0.085
-  locked TRUE
+DEF ROBOT1 SR2025bot {
+  name "robot1"
+  translation -2.375 -2.375 0
+  rotation 0 0 1 0.7854
+  flagColour 1 0.5 0
+  controllerArgs ["1"]
+  controller "usercode_runner"
+  customData "start"
 }
-Deck {
-  name "CL deck"
-  size 1.2192 1.2192
-  translation 0.6096 0.6096 0.085
-  locked TRUE
+DEF ROBOT2 SR2025bot {
+  name "robot2"
+  translation -2.375 2.375 0
+  rotation 0 0 1 -0.7854
+  flagColour 1 0 1
+  controllerArgs ["2"]
+  controller "usercode_runner"
+  customData "start"
 }
-TriangleDeck {
-  name "TR deck"
-  size 1.2192 1.2192
-  translation -2.0904 -2.0904 0.085
-  locked TRUE
+DEF ROBOT3 SR2025bot {
+  name "robot3"
+  translation 2.375 2.375 0
+  rotation 0 0 1 -2.3562
+  flagColour 1 1 0
+  controllerArgs ["3"]
+  controller "usercode_runner"
+  customData "start"
 }
-TriangleDeck {
-  name "BL deck"
-  size 1.2192 1.2192
-  translation 2.0904 2.0904 0.085
-  rotation 0 0 1 3.14159
+
+Arena {
+  size 5.75 5.75
   locked TRUE
+  floorTexture ["arena_floor.png"]
 }
 
-DEF CANS Pose {
-  translation 0 0 0.05
+DEF PILLARS Pose {
   children [
-    Can {
-      name "can1"
-      translation -0.3 0.44 0
+    Pillar {
+      translation 0.75 -0.75 0
+      size 0.15 0.15 0.13
+      marker "195"
+      model "pillar_0"
+      texture_url ["sim_markers/195.png"]
     }
-    Can {
-      name "can2"
-      translation -1.5 1.2 0
+    Pillar {
+      translation -0.75 -0.75 0
+      size 0.15 0.15 0.13
+      marker "196"
+      model "pillar_1"
+      texture_url ["sim_markers/196.png"]
     }
-    Can {
-      name "can3"
-      translation -1.5892 0.06 0
+    Pillar {
+      translation -0.75 0.75 0
+      size 0.15 0.15 0.13
+      marker "197"
+      model "pillar_2"
+      texture_url ["sim_markers/197.png"]
     }
-    Can {
-      name "can4"
-      translation -2.33 -0.06 0
+    Pillar {
+      translation 0.75 0.75 0
+      size 0.15 0.15 0.13
+      marker "198"
+      model "pillar_3"
+      texture_url ["sim_markers/198.png"]
     }
-    Can {
-      name "can5"
-      translation -1.5 -1.5 0
+    Pillar {
+      translation 0 0 0
+      size 0.15 0.15 0.26
+      marker "199"
+      model "pillar_centre"
+      texture_url ["sim_markers/199.png"]
     }
+  ]
+}
 
-    Can {
-      name "can6"
-      translation 0.3 -0.44 0
+DEF TOKENS Pose {
+  translation 0 0 0.07
+  children [
+    # 104, 102, 119, 100, 110, 117
+    DEF TOKEN0_1 BoxToken {
+      translation 0.3 -2.45 0
+      colour 0 1 0
+      marker "104"
+      model "T104"
+      texture_url ["sim_markers/104.png"]
+    }
+    DEF TOKEN0_2 BoxToken {
+      translation 0.3 -2.05 0
+      colour 0 1 0
+      marker "102"
+      model "T102"
+      texture_url ["sim_markers/102.png"]
+    }
+    DEF TOKEN0_3 BoxToken {
+      translation 0.3 -1.65 0
+      colour 0 1 0
+      marker "119"
+      model "T119"
+      texture_url ["sim_markers/119.png"]
+    }
+    DEF TOKEN0_4 BoxToken {
+      translation 2.45 -0.3 0
+      colour 0 1 0
+      marker "100"
+      model "T100"
+      texture_url ["sim_markers/100.png"]
+    }
+    DEF TOKEN0_5 BoxToken {
+      translation 2.05 -0.3 0
+      colour 0 1 0
+      marker "110"
+      model "T110"
+      texture_url ["sim_markers/110.png"]
+    }
+    DEF TOKEN0_6 BoxToken {
+      translation 1.65 -0.3 0
+      colour 0 1 0
+      marker "117"
+      model "T117"
+      texture_url ["sim_markers/117.png"]
+    }
+    # 122, 121, 133, 134, 127, 131
+    DEF TOKEN1_1 BoxToken {
+      translation -0.3 -2.45 0
+      colour 1 0.5 0
+      marker "122"
+      model "T122"
+      texture_url ["sim_markers/122.png"]
+    }
+    DEF TOKEN1_2 BoxToken {
+      translation -0.3 -2.05 0
+      colour 1 0.5 0
+      marker "121"
+      model "T121"
+      texture_url ["sim_markers/121.png"]
+    }
+    DEF TOKEN1_3 BoxToken {
+      translation -0.3 -1.65 0
+      colour 1 0.5 0
+      marker "133"
+      model "T133"
+      texture_url ["sim_markers/133.png"]
+    }
+    DEF TOKEN1_4 BoxToken {
+      translation -2.45 -0.3 0
+      colour 1 0.5 0
+      marker "134"
+      model "T134"
+      texture_url ["sim_markers/134.png"]
+    }
+    DEF TOKEN1_5 BoxToken {
+      translation -2.05 -0.3 0
+      colour 1 0.5 0
+      marker "127"
+      model "T127"
+      texture_url ["sim_markers/127.png"]
     }
-    Can {
-      name "can7"
-      translation 1.5 -1.2 0
+    DEF TOKEN1_6 BoxToken {
+      translation -1.65 -0.3 0
+      colour 1 0.5 0
+      marker "131"
+      model "T131"
+      texture_url ["sim_markers/131.png"]
     }
-    Can {
-      name "can8"
-      translation 1.5892 -0.06 0
+    # 145, 146, 152, 157, 151, 156
+    DEF TOKEN2_1 BoxToken {
+      translation -0.3 2.45 0
+      colour 1 0 1
+      marker "145"
+      model "T145"
+      texture_url ["sim_markers/145.png"]
     }
-    Can {
-      name "can9"
-      translation 2.33 0.06 0
+    DEF TOKEN2_2 BoxToken {
+      translation -0.3 2.05 0
+      colour 1 0 1
+      marker "146"
+      model "T146"
+      texture_url ["sim_markers/146.png"]
     }
-    Can {
-      name "can10"
-      translation 1.5 1.5 0
+    DEF TOKEN2_3 BoxToken {
+      translation -0.3 1.65 0
+      colour 1 0 1
+      marker "152"
+      model "T152"
+      texture_url ["sim_markers/152.png"]
+    }
+    DEF TOKEN2_4 BoxToken {
+      translation -2.45 0.3 0
+      colour 1 0 1
+      marker "157"
+      model "T157"
+      texture_url ["sim_markers/157.png"]
+    }
+    DEF TOKEN2_5 BoxToken {
+      translation -2.05 0.3 0
+      colour 1 0 1
+      marker "151"
+      model "T151"
+      texture_url ["sim_markers/151.png"]
+    }
+    DEF TOKEN2_6 BoxToken {
+      translation -1.65 0.3 0
+      colour 1 0 1
+      marker "156"
+      model "T156"
+      texture_url ["sim_markers/156.png"]
+    }
+    # 160, 169, 178, 176, 161, 179
+    DEF TOKEN3_1 BoxToken {
+      translation 0.3 2.45 0
+      colour 1 1 0
+      marker "160"
+      model "T160"
+      texture_url ["sim_markers/160.png"]
+    }
+    DEF TOKEN3_2 BoxToken {
+      translation 0.3 2.05 0
+      colour 1 1 0
+      marker "169"
+      model "T169"
+      texture_url ["sim_markers/169.png"]
+    }
+    DEF TOKEN3_3 BoxToken {
+      translation 0.3 1.65 0
+      colour 1 1 0
+      marker "178"
+      model "T178"
+      texture_url ["sim_markers/178.png"]
+    }
+    DEF TOKEN3_4 BoxToken {
+      translation 2.45 0.3 0
+      colour 1 1 0
+      marker "176"
+      model "T176"
+      texture_url ["sim_markers/176.png"]
+    }
+    DEF TOKEN3_5 BoxToken {
+      translation 2.05 0.3 0
+      colour 1 1 0
+      marker "161"
+      model "T161"
+      texture_url ["sim_markers/161.png"]
+    }
+    DEF TOKEN3_6 BoxToken {
+      translation 1.65 0.3 0
+      colour 1 1 0
+      marker "179"
+      model "T179"
+      texture_url ["sim_markers/179.png"]
     }
   ]
 }
 
-Marker {
-  name "A0"
-  model "0"
-  size 0.1 0.1
-  translation -1.4798 2.29 0.07
-  rotation 0 0 1 1.5708
-  texture_url ["sim_markers/0.png"]
-  upright TRUE
-}
-Marker {
-  name "A1"
-  model "1"
-  size 0.1 0.1
-  translation -1.4798 1.99 0.07
-  rotation 0 0 1 1.5708
-  texture_url ["sim_markers/1.png"]
-  upright TRUE
-}
-Marker {
-  name "A2"
-  model "2"
-  size 0.1 0.1
-  translation -0.4192 0.001 0.07
-  rotation 0 0 1 3.1415
-  texture_url ["sim_markers/2.png"]
-  upright TRUE
-}
-Marker {
-  name "A3"
-  model "3"
-  size 0.1 0.1
-  translation -0.7192 0.001 0.07
-  rotation 0 0 1 3.1415
-  texture_url ["sim_markers/3.png"]
-  upright TRUE
-}
-Marker {
-  name "A4"
-  model "4"
-  size 0.1 0.1
-  translation -2.699 0.91 0.07
-  rotation 0 0 1 1.5708
-  texture_url ["sim_markers/4.png"]
-  upright TRUE
-}
-Marker {
-  name "A5"
-  model "5"
-  size 0.1 0.1
-  translation -2.699 0.61 0.07
-  rotation 0 0 1 1.5708
-  texture_url ["sim_markers/5.png"]
-  upright TRUE
-}
-Marker {
-  name "A6"
-  model "6"
-  size 0.1 0.1
-  translation -2.19545 -1.98335 0.07
-  rotation 0 0 1 2.3561
-  texture_url ["sim_markers/6.png"]
-  upright TRUE
-}
-Marker {
-  name "A7"
-  model "7"
-  size 0.1 0.1
-  translation -1.98335 -2.19545 0.07
-  rotation 0 0 1 2.3561
-  texture_url ["sim_markers/7.png"]
-  upright TRUE
-}
-
-Marker {
-  name "B0"
-  model "0"
-  size 0.1 0.1
-  translation 1.4798 -2.29 0.07
-  rotation 0 0 1 -1.5708
-  texture_url ["sim_markers/0.png"]
-  upright TRUE
-}
-Marker {
-  name "B1"
-  model "1"
-  size 0.1 0.1
-  translation 1.4798 -1.99 0.07
-  rotation 0 0 1 -1.5708
-  texture_url ["sim_markers/1.png"]
-  upright TRUE
-}
-Marker {
-  name "B2"
-  model "2"
-  size 0.1 0.1
-  translation 0.4192 -0.001 0.07
-  rotation 0 0 1 0
-  texture_url ["sim_markers/2.png"]
-  upright TRUE
-}
-Marker {
-  name "B3"
-  model "3"
-  size 0.1 0.1
-  translation 0.7192 -0.001 0.07
-  rotation 0 0 1 0
-  texture_url ["sim_markers/3.png"]
-  upright TRUE
-}
-Marker {
-  name "B4"
-  model "4"
-  size 0.1 0.1
-  translation 2.699 -0.81 0.07
-  rotation 0 0 1 -1.5708
-  texture_url ["sim_markers/4.png"]
-  upright TRUE
-}
-Marker {
-  name "B5"
-  model "5"
-  size 0.1 0.1
-  translation 2.699 -0.51 0.07
-  rotation 0 0 1 -1.5708
-  texture_url ["sim_markers/5.png"]
-  upright TRUE
-}
-Marker {
-  name "B6"
-  model "6"
-  size 0.1 0.1
-  translation 2.19545 1.98335 0.07
-  rotation 0 0 1 -0.7853
-  texture_url ["sim_markers/6.png"]
-  upright TRUE
-}
-Marker {
-  name "B7"
-  model "7"
-  size 0.1 0.1
-  translation 1.98335 2.19545 0.07
-  rotation 0 0 1 -0.7853
-  texture_url ["sim_markers/7.png"]
-  upright TRUE
+DEF WALL_MARKERS Pose {
+  children [
+    # North wall
+    Marker {
+      name "A0"
+      model "0"
+      size 0.15 0.15
+      translation 2.15625 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/0.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A1"
+      model "1"
+      size 0.15 0.15
+      translation 1.4375 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/1.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A2"
+      model "2"
+      size 0.15 0.15
+      translation 0.71875 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/2.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A3"
+      model "3"
+      size 0.15 0.15
+      translation 0 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/3.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A4"
+      model "4"
+      size 0.15 0.15
+      translation -0.71875 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/4.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A5"
+      model "5"
+      size 0.15 0.15
+      translation -1.4375 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/5.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A6"
+      model "6"
+      size 0.15 0.15
+      translation -2.15625 -2.874 0.125
+      rotation 0 0 1 3.1415
+      texture_url ["sim_markers/6.png"]
+      upright TRUE
+    }
+    # East wall
+    Marker {
+      name "A7"
+      model "7"
+      size 0.15 0.15
+      translation -2.874 -2.15625 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/7.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A8"
+      model "8"
+      size 0.15 0.15
+      translation -2.874 -1.4375 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/8.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A9"
+      model "9"
+      size 0.15 0.15
+      translation -2.874 -0.71875 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/9.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A10"
+      model "10"
+      size 0.15 0.15
+      translation -2.874 0 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/10.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A11"
+      model "11"
+      size 0.15 0.15
+      translation -2.874 0.71875 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/11.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A12"
+      model "12"
+      size 0.15 0.15
+      translation -2.874 1.4375 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/12.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A13"
+      model "13"
+      size 0.15 0.15
+      translation -2.874 2.15625 0.125
+      rotation 0 0 1 1.5708
+      texture_url ["sim_markers/13.png"]
+      upright TRUE
+    }
+    # South wall
+    Marker {
+      name "A14"
+      model "14"
+      size 0.15 0.15
+      translation -2.15625 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/14.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A15"
+      model "15"
+      size 0.15 0.15
+      translation -1.4375 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/15.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A16"
+      model "16"
+      size 0.15 0.15
+      translation -0.71875 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/16.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A17"
+      model "17"
+      size 0.15 0.15
+      translation 0 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/17.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A18"
+      model "18"
+      size 0.15 0.15
+      translation 0.71875 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/18.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A19"
+      model "19"
+      size 0.15 0.15
+      translation 1.4375 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/19.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A20"
+      model "20"
+      size 0.15 0.15
+      translation 2.15625 2.874 0.125
+      rotation 0 0 1 0
+      texture_url ["sim_markers/20.png"]
+      upright TRUE
+    }
+    # # West wall
+    Marker {
+      name "A21"
+      model "21"
+      size 0.15 0.15
+      translation 2.874 2.15625 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/21.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A22"
+      model "22"
+      size 0.15 0.15
+      translation 2.874 1.4375 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/22.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A23"
+      model "23"
+      size 0.15 0.15
+      translation 2.874 0.71875 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/23.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A24"
+      model "24"
+      size 0.15 0.15
+      translation 2.874 0 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/24.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A25"
+      model "25"
+      size 0.15 0.15
+      translation 2.874 -0.71875 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/25.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A26"
+      model "26"
+      size 0.15 0.15
+      translation 2.874 -1.4375 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/26.png"]
+      upright TRUE
+    }
+    Marker {
+      name "A27"
+      model "27"
+      size 0.15 0.15
+      translation 2.874 -2.15625 0.125
+      rotation 0 0 1 -1.5708
+      texture_url ["sim_markers/27.png"]
+      upright TRUE
+    }
+  ]
 }
diff --git a/simulator/worlds/arena_floor.png b/simulator/worlds/arena_floor.png
index 73809dc..f0fa347 100755
Binary files a/simulator/worlds/arena_floor.png and b/simulator/worlds/arena_floor.png differ