diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs
index a22230ee79c7b4264cb89e0200ddf151cf78d8f8..386553565e6ec33852faf3f4c07bd0070dcd5627 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs
@@ -39,8 +39,8 @@ namespace RosSharp.RosBridgeClient
         {
             Vector3 new_pos = new Vector3();
             new_pos.x = agent.linear.x;
-            new_pos.y = agent.linear.z;
-            new_pos.z = agent.linear.y;
+            new_pos.y = agent.linear.y;
+            new_pos.z = agent.linear.z;
             return new_pos;
         }
 
diff --git a/Assets/MainAssets/Scripts/Managers/Viz_ExternalTrialManager.cs b/Assets/MainAssets/Scripts/Managers/Viz_ExternalTrialManager.cs
index 7de1f8a73d849ddd723480da0167e61800a95a45..85ddce576dba5e930aa003e384479351754d331d 100644
--- a/Assets/MainAssets/Scripts/Managers/Viz_ExternalTrialManager.cs
+++ b/Assets/MainAssets/Scripts/Managers/Viz_ExternalTrialManager.cs
@@ -1,4 +1,5 @@
 
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
@@ -104,17 +105,32 @@ public class Viz_ExternalTrialManager : MonoBehaviour, TrialManager {
         int i = 0;
         foreach (GameObject a in my_robots)
         {
-            Vector3 temp = new Vector3(a.transform.position.x+(float)0.01, 0, 0);
-            a.transform.position = temp;
            if (i < all_agents_pos.Count ){
+             Vector3 old = a.transform.position;
+             Vector3 next = all_agents_pos[i];
+             float new_heading = all_agents_pos[i].z;
              a.transform.position = all_agents_pos[i];
+             a.transform.rotation = Quaternion.Euler(0, 0, new_heading);
            }
            i++;
         }
         foreach (GameObject a in humans)
         {
            if (i < all_agents_pos.Count ){
-             a.transform.position = all_agents_pos[i];
+             float new_heading = all_agents_pos[i].z;
+             a.transform.position = new Vector3(
+                 all_agents_pos[i].x,
+                 a.transform.position.y,
+                 all_agents_pos[i].y
+                 );
+             if (all_agents_pos[i].z != 1000.0f)
+             {
+                a.transform.eulerAngles = new Vector3(
+                   a.transform.eulerAngles.x,
+                   all_agents_pos[i].z,
+                   a.transform.eulerAngles.z);
+             }
+
            }
            i++;
         }
diff --git a/Assets/Scenes/Tests/ETH MBN/Scene 1.unity b/Assets/Scenes/Tests/ETH MBN/Scene 1.unity
index 1542d3aee99d3127601651c7319d9d8ce7c10f5c..a68730e55df0cae655d8e71c6b0c54da82416afd 100644
--- a/Assets/Scenes/Tests/ETH MBN/Scene 1.unity	
+++ b/Assets/Scenes/Tests/ETH MBN/Scene 1.unity	
@@ -173292,7 +173292,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6649885822423033263}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.7071068}
-  m_LocalPosition: {x: 0, y: 1.5, z: 6}
+  m_LocalPosition: {x: 0, y: 1.5, z: 13.41}
   m_LocalScale: {x: 30, y: 0.1, z: 3}
   m_Children: []
   m_Father: {fileID: 6070563076589101033}
@@ -173579,7 +173579,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6706874437410045391}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.7071068}
-  m_LocalPosition: {x: 0, y: 1.5, z: -6}
+  m_LocalPosition: {x: 0, y: 1.5, z: -16.6}
   m_LocalScale: {x: 30, y: 0.1, z: 3}
   m_Children: []
   m_Father: {fileID: 6070563076589101033}