diff --git a/road_description/urdf/ceiling/colors.txt b/road_description/urdf/ceiling/colors.txt
index 8a4e764edb09132c8c3e7b4be8486c4485568907..2933fbbf832ec477cd03e9904668de3d630c268b 100644
--- a/road_description/urdf/ceiling/colors.txt
+++ b/road_description/urdf/ceiling/colors.txt
@@ -3,9 +3,11 @@
 (2, 102, 2) 0.000000 10 GreenRectangle
 (2, 2, 102) 0.000000 10 BlueRectangle
 (106, 1, 104) 0.000000 10 PurpleRectangle
+(100, 100, 0) 0.000000 10 YellowRectangle
 
 [thresholds]
 (20:42, 100:122, 167:189)
 (50:70, 84:104,  76:96)
 (0:20,  168:188, 109:129)
 (34:54, 151:171, 162:182)
+(78:98, 68:88, 126:146)
\ No newline at end of file
diff --git a/road_description/urdf/circuits/full/ceiling_panels.xacro b/road_description/urdf/circuits/full/ceiling_panels.xacro
index 0a090cc3c21e9311cbed3e80d40d03097139bd60..18e8177d2f22388ebb038ee65305c873fafcfb99 100644
--- a/road_description/urdf/circuits/full/ceiling_panels.xacro
+++ b/road_description/urdf/circuits/full/ceiling_panels.xacro
@@ -30,10 +30,10 @@
     <origin xyz="-5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${pan}"/>
   </xacro:panel>
   
-  <xacro:panel name="panel_purple" 
+  <xacro:panel name="panel_yellow" 
                parent="$(arg parent)"
-               gazebo_material="Gazebo/Purple"
-               urdf_color="purple">
+               gazebo_material="Gazebo/Yellow"
+               urdf_color="yellow">
     <origin xyz="-5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/>
   </xacro:panel>
 
diff --git a/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo b/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
index 4e5a5c9f9fc00205b2d8d9f7c3e3580b6bb33d86..94f68575731c55d077791da513741a8212d7e6d0 100644
--- a/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
@@ -28,8 +28,9 @@
         </depth_camera>
         <clip>
           <near>0.2</near>
-          <far>15.0</far>
+          <far>50.0</far>
         </clip>
+        <!--
         <distortion>
           <k1>-0.25</k1>
           <k2>0.12</k2>
@@ -37,6 +38,7 @@
           <p1>-0.00028</p1>
           <p2>-0.00005</p2>
         </distortion>
+        -->
         <noise>
           <type>gaussian</type>
           <mean>0.0</mean>
diff --git a/seat_car_description/urdf/include/sensors/top_camera.gazebo b/seat_car_description/urdf/include/sensors/top_camera.gazebo
index 88eca6c74d939b2606fdbb7ebedc1d6ee353e5cb..e754c1db5950ad066ce4ec33f0edeb569139e9b6 100644
--- a/seat_car_description/urdf/include/sensors/top_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/top_camera.gazebo
@@ -25,15 +25,17 @@
         </image>
         <clip>
           <near>0.02</near>
-          <far>300</far>
+          <far>50</far>
         </clip>
+        <!--
         <distortion>
-          <k1>-0.25</k1>
-          <k2>0.12</k2>
-          <k3>0.0</k3>
+          <k1>-0.3</k1>
+          <k2>0.1</k2>
+          <k3>-0.0002</k3>
           <p1>-0.00028</p1>
           <p2>-0.00005</p2>
         </distortion>
+        -->
         <noise>
           <type>gaussian</type>
           <mean>0.0</mean>