diff --git a/launch/inertia_estimation_simulation.launch b/launch/inertia_estimation_simulation.launch
new file mode 100644
index 0000000000000000000000000000000000000000..788f54009f51bf6958e17612a613d96e9fe18de8
--- /dev/null
+++ b/launch/inertia_estimation_simulation.launch
@@ -0,0 +1,51 @@
+<!-- -->
+<launch>
+    <!--USER ARGS-->
+    <arg name="rviz" default="true" /> 
+    <arg name="speed" default="1" />
+    <arg name="sec" default="0" />
+    <arg name="sim_time" default="true" />
+    
+    <arg name="profiling" default="false" />
+    <arg name="gdb" default="false" />
+    <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+    <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+    <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+
+    <arg name="bag" default="rosbag_borinot_sim_general_V7"/>
+    
+    
+    <!--VISUALIZATION-->
+    <group if="$(arg rviz)">
+        <node name="rviz"
+             pkg="rviz"
+             type="rviz" 
+             args="-d $(find wolf_demo_uav_identification)/rviz/online.rviz" />
+    </group>
+
+
+
+    <!--WOLF-->
+    <node type="wolf_ros_node" 
+          name="wolf_ros_node" 
+          pkg="wolf_ros_node"
+          output="screen"
+          required="true"
+          launch-prefix="$(arg launch_pref)">
+        <param name="~yaml_file_path" value="$(find wolf_demo_uav_identification)/yaml/inertia_estimation_simulation.yaml" />
+        <remap from="/wrench_accel" to="/fmu/sensor_accel/out"/>
+        <remap from="/wrench_gyro" to="/fmu/sensor_gyro/out"/>
+        <remap from="/wrench_actuators" to="/fmu/actuator_outputs/out"/>
+    </node>
+
+    <!-- ROSBAG -->
+    <node pkg="rosbag"
+        type="play"
+        name="player"
+        required="true"
+        args="-r $(arg speed)
+        -s $(arg sec)
+        --clock
+        $(find wolf_demo_uav_identification)/bag/$(arg bag).bag"/>
+    
+</launch>
diff --git a/yaml/inertia_estimation_simulation.yaml b/yaml/inertia_estimation_simulation.yaml
index bb090377f374f35a673aec44bfa9acc1fe7a66ea..fdbbfe30a5b76e72dff85f2d0e75bdbcc77b6e29 100644
--- a/yaml/inertia_estimation_simulation.yaml
+++ b/yaml/inertia_estimation_simulation.yaml
@@ -20,13 +20,13 @@ config:
     prior:
       mode: "initial_guess"  ##
       $state:
-        P: [0,0,2.5] # amg # initial position
+        P: [0,0,0] # amg # initial position
         O: [0,0,0,1] # amg # initial orientation
         V: [0,0,0]
         L: [0,0,0]
       $sigma:
-        P: [0.31, 0.31, 0.31]
-        O: [0.31, 0.31, 0.31]
+        P: [10, 10, 10]
+        O: [10, 10, 10]
         V: [100,100,100]
         L: [100,100,100]
       time_tolerance: 0.005
@@ -77,7 +77,7 @@ config:
     set_mass_prior:               true
     prior_mass_std:               1
     set_inertia_prior:            true
-    prior_inertia_std:            [1,1,1]
+    prior_inertia_std:            [0.1,0.1,0.1]
     set_com_prior:                true
     prior_com_std:                [1,1,1] 
     set_bias_prior:               true
@@ -89,7 +89,7 @@ config:
     type: "SensorPose"
     plugin: "core"
     extrinsic:
-      pose: [0.0,0.0,0.0, 0,0,0,1] #amg
+      pose: [0.0,0.0,0.0, 0,0,0,1] 
     std_p: 0.001
     std_o: 0.001
 
@@ -152,7 +152,7 @@ config:
     -
       package: "wolf_ros_node"
       type: "SubscriberPose"
-      topic: "/pose_from_tf" # amg # msg generated from tf to mimic the optitrack msg
+      topic: "/pose_from_tf" # msg generated from tf to mimic the optitrack msg
       sensor_name: "sensor Pose"