diff --git a/config/sim_position_full.yaml b/config/sim_position_full.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5652a755dd5e1199d60753f1bb254cc66c5d9840
--- /dev/null
+++ b/config/sim_position_full.yaml
@@ -0,0 +1,17 @@
+color1_id: green
+color1_x: 0.0
+color1_y: -2.5
+color1_z: 4.0
+color2_id: red
+color2_x: 2.5
+color2_y: -5.0
+color2_z: 4.0
+color3_id: yellow
+color3_x: -2.5
+color3_y: -5.0
+color3_z: 4.0
+color4_id: blue
+color4_x: 0.0
+color4_y: -7.5
+color4_z: 4.0
+
diff --git a/launch/visual_gps_sim.launch b/launch/visual_gps_sim.launch
index 75c7f08c653e072e4cb20e80d6c4d314d7763a36..b57a28ef84cb43575b3b73ae59d7c61c16aaad27 100644
--- a/launch/visual_gps_sim.launch
+++ b/launch/visual_gps_sim.launch
@@ -1,7 +1,8 @@
 <!-- -->
 <launch>
 
-  <arg name="positions_file" default="sim_position_track18.yaml"/>
+  <arg name="circuit" default="full"/>
+  <arg name="positions_file" default="sim_position_$(arg circuit).yaml"/>
   <arg name="positions_path" default="$(find iri_visual_gps)/config"/>
   
   <arg name="config_yaml_file_location" default="$(find iri_visual_gps)/config"/>