diff --git a/phoenix_gazebo/webots_project/worlds/purdue_track.wbt b/phoenix_gazebo/webots_project/worlds/purdue_track.wbt
index 2139c15..2df5049 100644
--- a/phoenix_gazebo/webots_project/worlds/purdue_track.wbt
+++ b/phoenix_gazebo/webots_project/worlds/purdue_track.wbt
@@ -16,11 +16,13 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/project
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/stairs/protos/StraightStairsLanding.proto"
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/VarnishedPine.proto"
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "../protos/homedepotbox.proto"
+EXTERNPROTO "../protos/Phoenix.proto"
 
 WorldInfo {
   info [
     "Purdue Grand Prix track"
-    "Author: Andrew Ealovega <avealov@umich.edu>"
+    "Authors: Andrew Ealovega <avealov@umich.edu>, Derek Servin <deservin@umich.edu>"
   ]
   ERP 0.6
   gpsCoordinateSystem "WGS84"
@@ -36,9 +38,11 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation -0.28492222135715645 0.6300311565947508 0.7224126725748821 1.0807708428560925
-  position -180.6035807847134 -169.6459284178406 238.09690043956488
+  orientation -0.04580563631831882 -0.9813355079697378 0.18676847828059912 5.793480509993263
+  position -9.722365138260635 2.652603817256743 8.58871697606421
   near 3
+  follow "Phoenix"
+  followType "None"
 }
 TexturedBackground {
   texture "noon_park_empty"
@@ -2165,3 +2169,19 @@ Road {
   ]
   splineSubdivision 8
 }
+Phoenix {
+  translation -0.147225 2.725 0.18
+  rotation 0 0 1 -0.523595307179586
+}
+homedepotbox {
+  translation 44.31 42.75 0.22
+  name "home depot box left"
+}
+homedepotbox {
+  translation 45 42.75 0.22
+  name "home depot box right"
+}
+homedepotbox {
+  translation 44.65 42.75 0.63
+  name "home depot box top"
+}