diff --git a/.github/workflows/ros_build_test.yml b/.github/workflows/ros_build_test.yml
index 28768ce..2709510 100644
--- a/.github/workflows/ros_build_test.yml
+++ b/.github/workflows/ros_build_test.yml
@@ -8,8 +8,8 @@ on:
     paths-ignore:
       - '**/README.md'
 
-    pull_request:
-      branches: [ master ]
+  pull_request:
+    branches: [ master ]
 
   workflow_dispatch:
 
diff --git a/ros_packages/mrs_octomap_mapping_planning/tmux/simulation_example/config/world_config.yaml b/ros_packages/mrs_octomap_mapping_planning/tmux/simulation_example/config/world_config.yaml
index 7052e5f..9b55067 100644
--- a/ros_packages/mrs_octomap_mapping_planning/tmux/simulation_example/config/world_config.yaml
+++ b/ros_packages/mrs_octomap_mapping_planning/tmux/simulation_example/config/world_config.yaml
@@ -1,46 +1,34 @@
-#
-## DEFINITION OF THE ARENA
-#
+world_origin:
 
-world_origin_units: "LATLON" # {"UTM, "LATLON"}
+  units: "LATLON" # {"UTM, "LATLON"}
 
-world_origin_x: 47.397743
-world_origin_y: 8.545594
+  origin_x: 47.397743
+  origin_y: 8.545594
 
 safety_area:
 
-  use_safety_area: false
-
-  frame_name: "world_origin"
-
-  # convex polygon CCW
-  safety_area: [
-    -50, -50,
-    50,  -50,
-    50,  50,
-    -50, 50
-  ]
-
-  max_z: 15.0
-  min_z: 0.5
-
-  polygon_obstacles:
-    # loaded as a vector of matrices
-    # each matrix has polygon vertices in columns
-    # [[M1], [M2]]
-    enabled: false
-    data: [8.6, 18.61, 20.35, 6.82, -3.14, 10.7,
-           -22.5, -22.71, 1.02, 17.68, 11.1, -4.1]
-    rows: 2 # each matrix has two rows
-    cols: [6] # nums of cols of each matrix
-
-  point_obstacles:
-    # loaded as a vector of matrices
-    # x, y, radius
-    enabled: false
-    # [x1, y1, radisu1, height1,
-    #  x2, y2, radius2, height2]
-    data: [-5.0, -5.0, 2, 2,
-           -10.0, -10.0, 4, 2]
-    rows: 1 # each matrix has a single row
-    cols: [4, 4] # nums of cols of each matrix
+  enabled: true
+
+  horizontal:
+
+    # the frame of reference in which the points are expressed
+    frame_name: "world_origin"
+
+    # polygon
+    #
+    # x, y [m] for any frame_name except latlon_origin
+    # x = latitude, y = longitude [deg]  for frame_name=="latlon_origin"
+    points: [
+      -50, -50,
+      50,  -50,
+      50,  50,
+      -50, 50,
+    ]
+
+  vertical:
+
+    # the frame of reference in which the max&min z is expressed
+    frame_name: "world_origin"
+
+    max_z: 15.0
+    min_z: 0.5