diff --git a/images/Button1.png b/images/Button1.png
new file mode 100644
index 00000000..68c7c369
Binary files /dev/null and b/images/Button1.png differ
diff --git a/images/VIzButton.png b/images/VIzButton.png
new file mode 100644
index 00000000..8626867b
Binary files /dev/null and b/images/VIzButton.png differ
diff --git a/physical_bringup/launch/traxxas_drive_write.launch b/physical_bringup/launch/traxxas_drive_write.launch
index 650b8614..709f573e 100644
--- a/physical_bringup/launch/traxxas_drive_write.launch
+++ b/physical_bringup/launch/traxxas_drive_write.launch
@@ -9,7 +9,7 @@
     <arg name="vel_cmd_topic" default="/android_input_vel"/>
 
     <arg name="camera_topic" default="/real_camera"/>
-    <arg name="int_camera_id" default="0"/> 
+    <arg name="int_camera_id" default="2"/> 
 
     <include file="$(find physical_bringup)/launch/modules/rosserial.launch" /> 
 
diff --git a/requirements.txt b/requirements.txt
index 8b57317e..ad6d9cd0 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,7 @@
 controller_manager_msgs==0.19.4
 roslib==1.15.7
 sensor_msgs==1.13.1
-tensorflow==2.4.1
+tensorflow==2.6.0
 cv_bridge==1.15.0
 rospy==1.15.11
 pandas==0.25.3
diff --git a/simulation_bringup/launch/traxxas_free_drive.launch b/simulation_bringup/launch/traxxas_free_drive.launch
index 908c7dd4..7447d28a 100644
--- a/simulation_bringup/launch/traxxas_free_drive.launch
+++ b/simulation_bringup/launch/traxxas_free_drive.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name="urdf" default="robot02"/>
+    <arg name="urdf" default="robot04"/>
     <arg name="world" default="arena1"/>
     <arg name="vel" default="0.5"/>