diff --git a/launch/motion_stack.launch b/launch/motion_stack.launch
index fb6bfc0..becd82b 100644
--- a/launch/motion_stack.launch
+++ b/launch/motion_stack.launch
@@ -11,12 +11,10 @@
         <arg name="bond_id_namespace" value="$(arg bond_id_namespace)" />
     </include>
 
-<!--
     <include
         file="$(find iarc7_planner)/launch/planner.launch">
         <arg name="platform" value="$(arg platform)" />
         <arg name="bond_id_namespace" value="$(arg bond_id_namespace)" />
     </include>
--->
 
 </launch>
diff --git a/launch/test_obstacle_avoidance.launch b/launch/test_obstacle_avoidance.launch
new file mode 100644
index 0000000..8df878b
--- /dev/null
+++ b/launch/test_obstacle_avoidance.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="platform" default="sim" doc="string representing the platform" />
+    <node name="test_obstacle_avoidance_abstract" pkg="iarc7_abstract" type="test_obstacle_avoidance.py" />
+    <param name="safety_bonds/test_obstacle_avoidance_abstract/form_bond" value="true" />
+    <arg name="bond_id_namespace" default="safety_bonds" />
+    <arg name="fake_bat" default="false" doc="create a fake motor battery publisher" />
+
+    <include file="$(find iarc7_launch)/launch/main.launch">
+        <arg name="platform" value="$(arg platform)" />
+    </include>
+
+</launch>
diff --git a/params/arena.yaml b/params/arena.yaml
index 6fb3529..cf151c9 100644
--- a/params/arena.yaml
+++ b/params/arena.yaml
@@ -1,9 +1,9 @@
 # min and max arena specific constraints
 arena:
-    max_x: 10.0 # meters
-    max_y: 10.0 # meters
-    max_z: 3.0 # meters
+    max_x: 20.0 # meters
+    max_y: 20.0 # meters
+    max_z: 4.0 # meters
 
-    min_x: -10.0 # meters
-    min_y: -10.0 # meters
+    min_x: 0.0 # meters
+    min_y: 0.0 # meters
     min_z: 0.0 # meters
diff --git a/params/safety_config.yaml b/params/safety_config.yaml
index 1bcb705..e859e8f 100644
--- a/params/safety_config.yaml
+++ b/params/safety_config.yaml
@@ -17,7 +17,7 @@ safety_bonds:
         priority: 200
     motion_command_coordinator:
         priority: 250
-    motion_planner: 
+    motion_planner:
         priority: 300
     takeoff_land_abstract:
         priority: 1000
@@ -33,7 +33,7 @@ safety_bonds:
         priority: 1000
     velocity_test_abstract:
         priority: 1000
-    block_roomba_abstract: 
+    block_roomba_abstract:
         priority: 1000
     roomba_request_executer_test_abstract:
         priority: 1000
@@ -43,9 +43,11 @@ safety_bonds:
         priority: 1000
     high_low_speed_test_abstract:
         priority: 1000
-    test_planner_abstract: 
+    test_planner_abstract:
         priority: 1000
     joystick_velocity_test_abstract:
         priority: 1000
-    go_to_roomba_abstract: 
+    go_to_roomba_abstract:
+        priority: 1000
+    test_obstacle_avoidance_abstract:
         priority: 1000