diff --git a/experiments/experiment_cit3f_with_gamma.sh b/experiments/experiment_cit3f_with_gamma.sh
index 25d71aa..4c9e7b7 100755
--- a/experiments/experiment_cit3f_with_gamma.sh
+++ b/experiments/experiment_cit3f_with_gamma.sh
@@ -1,4 +1,4 @@
-for i in `seq 5`
+for i in `seq 1`
 do
   roslaunch real_tsudanuma2-3_sim nav_cloning_sim.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.3.3.world map_file:=real_tsudanuma2-3.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
   sleep 10
diff --git a/launch/gamma_navigation.launch b/launch/gamma_navigation.launch
index 027e8f7..d756c58 100644
--- a/launch/gamma_navigation.launch
+++ b/launch/gamma_navigation.launch
@@ -21,7 +21,7 @@
     <arg name="model" value="$(arg model)" />
   </include> -->
 
-  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find orne_description)/urdf/gamma/orne_gamma.urdf.xacro" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find orne_description)/urdf/gamma/orne_gamma.urdf.xacro" />
 
   <!-- gamma -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
diff --git a/launch/nav_cloning_sim.launch b/launch/nav_cloning_sim.launch
index ad06ab8..bd8f76a 100644
--- a/launch/nav_cloning_sim.launch
+++ b/launch/nav_cloning_sim.launch
@@ -28,7 +28,7 @@
 
   <param name="robot_description" command="$(find xacro)/xacro --inorder $(find orne_description)/urdf/gamma/orne_gamma.urdf.xacro" />
 
-  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model mobile_base -x $(arg robot_x) -y $(arg robot_y) -z 0.3 -Y $(arg robot_Y) -param robot_description" />
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model mobile_base -x $(arg robot_x) -y $(arg robot_y) -z 0.28 -Y $(arg robot_Y) -param robot_description" />
 
   <group if="$(arg use_initpose)">
     <node pkg="nav_cloning" type="initpose" name="initpose"/>