diff --git a/ionic_demo/worlds/ionic.sdf b/ionic_demo/worlds/ionic.sdf
index df7e544..5e131ed 100644
--- a/ionic_demo/worlds/ionic.sdf
+++ b/ionic_demo/worlds/ionic.sdf
@@ -306,20 +306,20 @@
     </light>-->
 
     <light type="spot" name="spot_grid">
-      <pose>-1 0.5 2.75 0 0 0</pose>
+      <pose>-3 0.5 2.7 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
       <specular>1 1 1 1</specular>
-      <intensity>0.75</intensity>
+      <intensity>1</intensity>
       <attenuation>
         <range>12</range>
-        <linear>0.01</linear>
+        <linear>0.3</linear>
         <constant>0.2</constant>
         <quadratic>0.0</quadratic>
       </attenuation>
       <direction>0 0 -1</direction>
       <spot>
         <inner_angle>0</inner_angle>
-        <outer_angle>3</outer_angle>
+        <outer_angle>2.5</outer_angle>
         <falloff>1</falloff>
       </spot>
       <cast_shadows>true</cast_shadows>
@@ -329,17 +329,17 @@
       <pose>4 1.8 2.5 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
       <specular>1 1 1 1</specular>
-      <intensity>0.75</intensity>
+      <intensity>1</intensity>
       <attenuation>
         <range>12</range>
-        <linear>0.01</linear>
+        <linear>0.3</linear>
         <constant>0.2</constant>
         <quadratic>0.0</quadratic>
       </attenuation>
       <direction>0 0 -1</direction>
       <spot>
         <inner_angle>0</inner_angle>
-        <outer_angle>3</outer_angle>
+        <outer_angle>2.5</outer_angle>
         <falloff>1</falloff>
       </spot>
       <cast_shadows>true</cast_shadows>
@@ -349,22 +349,50 @@
       <pose>9 1 2.75 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
       <specular>1 1 1 1</specular>
-      <intensity>0.75</intensity>
+      <intensity>1</intensity>
       <attenuation>
         <range>12</range>
-        <linear>0.01</linear>
+        <linear>0.3</linear>
         <constant>0.2</constant>
         <quadratic>0.0</quadratic>
       </attenuation>
       <direction>0 0 -1</direction>
       <spot>
         <inner_angle>0</inner_angle>
-        <outer_angle>3</outer_angle>
+        <outer_angle>2.5</outer_angle>
         <falloff>1</falloff>
       </spot>
       <cast_shadows>true</cast_shadows>
     </light>
 
+    <light type="point" name="point_column_01">
+      <pose>0 1.75 1.75 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <intensity>1</intensity>
+      <attenuation>
+        <range>20</range>
+        <linear>0.2</linear>
+        <constant>0.8</constant>
+        <quadratic>0.5</quadratic>
+      </attenuation>
+      <cast_shadows>false</cast_shadows>
+    </light>
+
+    <light type="point" name="point_column_02">
+      <pose>7.4 3.4 1.71 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>1 1 1 1</specular>
+      <intensity>1</intensity>
+      <attenuation>
+        <range>20</range>
+        <linear>0.2</linear>
+        <constant>0.8</constant>
+        <quadratic>0.5</quadratic>
+      </attenuation>
+      <cast_shadows>false</cast_shadows>
+    </light>
+
     <!--<light type="point" name="point">
       <pose>-1 0.5 4 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>