diff --git a/wild_visual_navigation_sim/worlds/outdoor.world b/wild_visual_navigation_sim/worlds/outdoor.world
index 86cc8253..a0bb69ba 100644
--- a/wild_visual_navigation_sim/worlds/outdoor.world
+++ b/wild_visual_navigation_sim/worlds/outdoor.world
@@ -5,29 +5,7 @@
       <ambient>0.2 0.2 0.2 1</ambient>
       <shadows>1</shadows>
       <grid>0</grid>
-      <sky>
-        <clouds>
-          <speed>4</speed>
-        </clouds>
-      </sky>
-      <background>0.7 0.7 0.7 1</background>
     </scene>
-    <physics type="ode">
-			<ode>
-				<solver>
-					<type>quick</type>
-					<iters>10</iters>
-					<sor>1.3</sor>
-				</solver>
-				<constraints>
-					<cfm>0.0</cfm>
-					<erp>0.2</erp>
-					<contact_max_correcting_vel>10</contact_max_correcting_vel>
-					<contact_surface_layer>0.001</contact_surface_layer>
-				</constraints>
-			</ode>
-			<max_step_size>0.001</max_step_size>
-		</physics>
     <gravity>0 0 -9.81</gravity>
     <light name='sun' type='directional'>
       <cast_shadows>1</cast_shadows>
@@ -120,7 +98,7 @@
 		<model name="tree1">
 			<static>true</static>
 			<link name="tree1_link">
-				<pose>3 3 0.6 0 0 0</pose>
+				<pose>3 3 -1 0 0 0</pose>
 				<collision name="tree1_collision">
 					<geometry>
 						<mesh>
@@ -144,7 +122,7 @@
 		<model name="tree2">
 			<static>true</static>
 			<link name="tree2_link">
-				<pose>5 6 0.7 0 0 0.3</pose>
+				<pose>5 6 -1.0 0.0 0 0.3</pose>
 				<collision name="tree2_collision">
 					<geometry>
 						<mesh>
@@ -168,7 +146,7 @@
 		<model name="tree3">
 			<static>true</static>
 			<link name="tree3_link">
-				<pose>1 8 0.9 0 0 0</pose>
+				<pose>1 8 -0.2 0.0 0 0</pose>
 				<collision name="tree3_collision">
 					<geometry>
 						<mesh>
@@ -192,7 +170,7 @@
 		<model name="tree4">
 			<static>true</static>
 			<link name="tree4_link">
-				<pose>-5 4 0.8 0 0 0.1</pose>
+				<pose>-5 4 -1.0 0 0.1</pose>
 				<collision name="tree4_collision">
 					<geometry>
 						<mesh>
@@ -216,7 +194,7 @@
 		<model name="tree5">
 			<static>true</static>
 			<link name="tree5_link">
-				<pose>-10 -3 1.1 0 0 0.3</pose>
+				<pose>-10 -3 -1.0 0 0 0.3</pose>
 				<collision name="tree5_collision">
 					<geometry>
 						<mesh>
@@ -240,7 +218,7 @@
 		<model name="tree6">
 			<static>true</static>
 			<link name="tree6_link">
-				<pose>-6 -1 1.02 0 0 0.5</pose>
+				<pose>-6 -1 -0.8 0 0 0.5</pose>
 				<collision name="tree6_collision">
 					<geometry>
 						<mesh>
@@ -264,7 +242,7 @@
 		<model name="tree7">
 			<static>true</static>
 			<link name="tree7_link">
-				<pose>-1 1 0.8 0 0 0.2</pose>
+				<pose>-1 1 -1.0 0.0 0 0.2</pose>
 				<collision name="tree7_collision">
 					<geometry>
 						<mesh>
@@ -288,7 +266,7 @@
 		<model name="tree8">
 			<static>true</static>
 			<link name="tree8_link">
-				<pose>9 -4 0.5 0 0 0.5</pose>
+				<pose>9 -4 -0.5 0 0 0.5</pose>
 				<collision name="tree8_collision">
 					<geometry>
 						<mesh>
@@ -312,7 +290,7 @@
 		<model name="tree9">
 			<static>true</static>
 			<link name="tree9_link">
-				<pose>6 -0.5 0.8 0 0 0.5</pose>
+				<pose>6 -0.5 -1.0 0 0 0.5</pose>
 				<collision name="tree9_collision">
 					<geometry>
 						<mesh>