diff --git a/mpi_sim/components/occupany_grid_mapping.py b/mpi_sim/components/occupany_grid_mapping.py
index 5ce4630c8e6781b535cb4a4730eba492e303a89e..d1492bcf6b7e88732836881ff7c6191d4e45b730 100644
--- a/mpi_sim/components/occupany_grid_mapping.py
+++ b/mpi_sim/components/occupany_grid_mapping.py
@@ -18,8 +18,9 @@ class OccupancyGridMapping(SensorComponent):
         dc.depth = 5.0  # depth if local in meters
         dc.object_filter = None  # filter for the elements that should be mapped
         dc.resolution = 0.05  # resolution of the maps in m per cell
-        dc.update_global_map_automatically = True  # should the global map be automatically updated each step
+        dc.update_global_map_automatically = False  # should the global map be automatically updated each step
         dc.transform = None # transform functions of the global map
+        dc.update_local_map_automatically = False
         return dc
 
 
@@ -35,7 +36,7 @@ class OccupancyGridMapping(SensorComponent):
         if self.state.global_map is None:
             return None
         else:
-            return self.state.global_map.map
+            return self.update_global_map()
 
 
     @property
@@ -56,7 +57,7 @@ class OccupancyGridMapping(SensorComponent):
         if self.state.local_map is None:
             return None
         else:
-            return self.state.local_map.map
+            return self.update_local_map()
 
 
     @property
@@ -146,9 +147,8 @@ class OccupancyGridMapping(SensorComponent):
 
 
     def _step(self):
-
         if self.config.update_global_map_automatically or not self.state.is_global_map_initialized:
             self.update_global_map()
             self.state.is_global_map_initialized = True
-
-        self.update_local_map()
+        if self.config.update_local_map_automatically :
+            self.update_local_map()
diff --git a/mpi_sim/components/raycast_sensor.py b/mpi_sim/components/raycast_sensor.py
index bc4791e122c70816a2c1bc166aef0e54d58cecd8..edeee0315efad5b43b074775d733a94b373b08c6 100644
--- a/mpi_sim/components/raycast_sensor.py
+++ b/mpi_sim/components/raycast_sensor.py
@@ -68,7 +68,18 @@ class RayCastSensor(SensorComponent):
 
     @property
     def raycast_distances(self):
-        return self.update_raycast()
+        if self.update_raycast_every_step :
+            return np.round(self.ray_distance_list, 4)
+        else :
+            return self.update_raycast()
+    
+    @property
+    def raycast_angles(self):
+        if self.update_raycast_every_step :
+            return self.ray_angle_list
+        else :
+            self.update_raycast()
+            return self.ray_angle_list
     
 
     def __init__(self, config=None, **kwargs):
@@ -160,7 +171,7 @@ class RayCastSensor(SensorComponent):
                             cb_point=np.array(callback.point)+ noise,
                             cb_normal=callback.normal,
                             point1=self.point11,
-                            color=b2Color(None)
+                            color=b2Color(0.8, 0, 0.8)
                         )
             else:
                 self.ray_distance_list.append(sim.utils.measure_center_distance(self.position, np.array(point_ray)+noise))
diff --git a/mpi_sim/utils/__init__.py b/mpi_sim/utils/__init__.py
index ed8fd7e7aa2d3b9dfd566715421a595d32a0bfe6..7e7acdd70e3414a480b37257d8e12b5fbcc6d6da 100644
--- a/mpi_sim/utils/__init__.py
+++ b/mpi_sim/utils/__init__.py
@@ -39,4 +39,4 @@ from mpi_sim.utils.occupancy_grid_map import get_occupancy_grid_map_shape
 from mpi_sim.utils.occupancy_grid_map import transform_position_to_map_coordinate
 from mpi_sim.utils.occupancy_grid_map import transform_map_coordinate_to_position
 from mpi_sim.utils.occupancy_grid_map import OccupancyGridMap
-from mpi_sim.utils.occupany_grid_transform import RTABMAPlikeTransform
+from mpi_sim.utils.occupancy_grid_transform import RTABMAPlikeTransform
diff --git a/mpi_sim/utils/occupany_grid_transform.py b/mpi_sim/utils/occupancy_grid_transform.py
similarity index 100%
rename from mpi_sim/utils/occupany_grid_transform.py
rename to mpi_sim/utils/occupancy_grid_transform.py