diff --git a/include/fake_laser_gen_alg_node.h b/include/fake_laser_gen_alg_node.h
index 9a3479f75dd522641b92dec87983c4f505964d65..27647e053f24cccf60a768364ec95f1fb9b75952 100644
--- a/include/fake_laser_gen_alg_node.h
+++ b/include/fake_laser_gen_alg_node.h
@@ -41,7 +41,7 @@
  */
 class FakeLaserGenAlgNode : public algorithm_base::IriBaseAlgorithm<FakeLaserGenAlgorithm>
 {
-  enum laser_mode{Zero=0, one_obstacle, two_obstacles, n_obstacles, n_obstacles_2, scene, scene_2,corrido_obstacles_companion_2_paths,corrido_obstacles_companion_3_paths,corridor_obstacles_which_narrows_companion_1_paths, n_obstacles3, n_obstacles4, scene_3, scene_4, n_obstacles5,  n_obstacles6, n_obstacles7, n_obstacles8,n_obstacles7_robot2017_videos, scene_5,scene_6,n_obstacles9,scene_7,n_obstacles10,n_obstacles11, n_obstacles_3_marta_approaching,n_obstacles_4_marta_approaching,n_obstacles_5_marta_approaching };
+  enum laser_mode{Zero=0, one_obstacle, two_obstacles, n_obstacles, n_obstacles_2, scene, scene_2,corrido_obstacles_companion_2_paths,corrido_obstacles_companion_3_paths,corridor_obstacles_which_narrows_companion_1_paths, n_obstacles3, n_obstacles4, scene_3, scene_4, n_obstacles5,  n_obstacles6, n_obstacles7, n_obstacles8,n_obstacles7_robot2017_videos, scene_5,scene_6,n_obstacles9,n_obstacles9_v2 ,scene_7,n_obstacles10,n_obstacles11, n_obstacles_3_marta_approaching,n_obstacles_4_marta_approaching,n_obstacles_5_marta_approaching };
   
   private:
     // [publisher attributes]
diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index 1e2bffc65b1bd9883a9b8f7cbd4b5c061c6d2d35..796b08294cfdfb7a82c32ae8bd3ec45e7a9703d9 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -105,9 +105,12 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
 
 // NEW CASES OBSTACLES side-by-side 2people
 //laser_mode_=FakeLaserGenAlgNode::n_obstacles9; // (un poco más hacia izquierda, que el caso n_obstacles10)Caso obstaculo en el lateral izquierdo que lo evita bien el grupo (solo faltaria salir de un poco más atras)
-//laser_mode_=FakeLaserGenAlgNode::n_obstacles10; //Caso obstaculo en el lateral derecho que lo evita bien el grupo (solo faltaria salir de un poco más atras) OK
 
-//laser_mode_=FakeLaserGenAlgNode::n_obstacles11; // nuevo caso puerta para el caso del companion de 2 personas.
+//laser_mode_=FakeLaserGenAlgNode::n_obstacles9_v2; // Caso obstaculo en el lateral izquierdo que lo evita bien SOLO companion 1 persona!
+
+//laser_mode_=FakeLaserGenAlgNode::n_obstacles10; //Caso obstaculo en el lateral derecho que lo evita bien el grupo (solo faltaria salir de un poco más atras) OK
+//
+laser_mode_=FakeLaserGenAlgNode::n_obstacles11; // nuevo caso puerta para el caso del companion de 2 personas.
 
 // Escenarios approachign marta: n_obstacles_3_marta_approaching,n_obstacles_4_marta_approaching,n_obstacles_5_marta_approaching
 
@@ -487,11 +490,13 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
   case FakeLaserGenAlgNode::n_obstacles11 : // caso obstaculos a 1.4965 m entre ellos. va con empty_map_whit_obstacles2
     {
       ROS_INFO("n obstacles 3");
-	for (unsigned int n = 665; n<688; ++n){  // 726.5 -> 745  ooo 665 -> 688
+	//for (unsigned int n = 545; n<678; ++n){  // 726.5 -> 745  ooo 665 -> 688
+	for (unsigned int n = 630; n<678; ++n){ 
 		LaserScan_msg_.ranges[n]=13.15;
 	}
 
-	for (unsigned int n = 746.5; n<770; ++n){  // 726.5 -> 745  ooo 665 -> 688
+	//for (unsigned int n = 746.5; n<880; ++n){  // 726.5 -> 745  ooo 665 -> 688
+	for (unsigned int n = 746.5; n<790; ++n){  // 726.5 -> 745  ooo 665 -> 688
 		LaserScan_msg_.ranges[n]=13.15;
 	}
 
@@ -522,6 +527,30 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
     }
     break;
 
+  case FakeLaserGenAlgNode::n_obstacles9_v2 : // caso obstaculos a 1.4965 m entre ellos. va con empty_map_whit_obstacles2
+    {
+      ROS_INFO("n obstacles 3");
+
+
+     /*   LaserScan_msg_.ranges[680-15]= 13.0;
+       LaserScan_msg_.ranges[680-10]= 13.25;
+        LaserScan_msg_.ranges[680-5]= 13.25;
+      LaserScan_msg_.ranges[680]= 13.15;
+       LaserScan_msg_.ranges[680+8]= 13.15; */ // 6.5 pasan...
+	//for (unsigned int n = 635; n<698; ++n){  // FOR 1-person!726.5 -> 745  ooo 665 -> 688
+	for (unsigned int n = 670; n<710; ++n){ //to accompany 2 person, robot lateral
+		LaserScan_msg_.ranges[n]=13.15;
+	}
+      /* LaserScan_msg_.ranges[730-3.5]= 17.15;  //4.5  pasan...
+        LaserScan_msg_.ranges[730]= 17.15;
+        LaserScan_msg_.ranges[730+3]= 17.15;
+       LaserScan_msg_.ranges[730+6]= 17.15;
+      LaserScan_msg_.ranges[730+9]= 17.15;
+       LaserScan_msg_.ranges[730+12]= 17.15;
+      //  LaserScan_msg_.ranges[1300+18]= 7.0;*/
+    }
+    break;
+
  case FakeLaserGenAlgNode::n_obstacles10 : // caso obstaculo a la izquierda del grupo. Bueno para luego hacer experimentos con obstaculos. Se ve bien como se acerca más a la persona con menos fuerza de obstaculos.
     {
       ROS_INFO("n obstacles 3");