diff --git a/bwi_launch/config/simulated_real.yaml b/bwi_launch/config/simulated_real.yaml
new file mode 100644
index 0000000..d3e0e6a
--- /dev/null
+++ b/bwi_launch/config/simulated_real.yaml
@@ -0,0 +1,5 @@
+robots:
+  - name: marvin
+    location: [-9.0, -12.0, 0.0]
+  - name: roberto 
+    location: [-11.0, -12.0, 0.0]
diff --git a/bwi_launch/launch/includes/simulation.launch.xml b/bwi_launch/launch/includes/simulation.launch.xml
index da1200e..9120b4f 100644
--- a/bwi_launch/launch/includes/simulation.launch.xml
+++ b/bwi_launch/launch/includes/simulation.launch.xml
@@ -1,10 +1,18 @@
 <launch>
   <arg name="multimap_file" default="$(find utexas_gdc)/maps/simulation/multimap/combined.yaml"/>
+  <arg name="realistic_gazebo_sim" default="false"/>
   <arg name="non_gazebo_sim" default="false"/>
 
   <!-- start the simulation environment -->
   <group unless="$(arg non_gazebo_sim)">
-      <include file="$(find utexas_gdc)/launch/simulation_multimap.launch" />
+      <group unless="$(arg realistic_gazebo_sim)">
+          <include file="$(find utexas_gdc)/launch/simulation_multimap.launch" />
+      </group>
+      <group if="$(arg realistic_gazebo_sim)">
+          <include file="$(find utexas_gdc)/launch/simulation_3ne.launch">
+            <arg name="realistic" value="true"/>
+          </include>
+      </group>
   </group>
 
   <!-- launch the multi map server for the simulated world -->
diff --git a/bwi_launch/launch/multi_robot_simulation.realistic_gazebo.launch b/bwi_launch/launch/multi_robot_simulation.realistic_gazebo.launch
new file mode 100644
index 0000000..9a33890
--- /dev/null
+++ b/bwi_launch/launch/multi_robot_simulation.realistic_gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <arg name="multimap_file" value="$(find utexas_gdc)/maps/real/multimap/3_only_multimap.yaml" />
+
+  <!-- start the simulation environment -->
+  <include file="$(find utexas_gdc)/launch/simulation_3ne.launch" >
+    <arg name="realistic" value="true"/>
+  </include>
+
+  <!-- launch the multi map server for the simulated world -->
+  <node name="multi_level_map_server" pkg="multi_level_map_server" type="multi_level_map_server">
+    <param name="map_file" value="$(arg multimap_file)" />
+  </node>
+
+  <include file="$(find segbot_simulation_apps)/launch/door_handler.launch" />
+
+  <node name="multi_robot_launcher" pkg="bwi_launch" type="multi_robot_launcher">
+    <rosparam command="load" param="configuration" file="$(find bwi_launch)/config/simulated_real.yaml" />
+  </node>
+
+</launch>
diff --git a/bwi_launch/launch/simulation_v2.launch b/bwi_launch/launch/simulation_v2.launch
index 88abc9d..b65763b 100644
--- a/bwi_launch/launch/simulation_v2.launch
+++ b/bwi_launch/launch/simulation_v2.launch
@@ -7,10 +7,12 @@
   <arg name="use_arm" default="false" />
   <arg name="use_perception" default="false" />
   <arg name="non_gazebo_sim" default="false" />
+  <arg name="realistic_gazebo_sim" default="false" />
 
   <include file="$(find bwi_launch)/launch/includes/simulation.launch.xml" >
     <arg name="multimap_file" value="$(arg multimap_file)"/>
     <arg name="non_gazebo_sim" value="$(arg non_gazebo_sim)"/>
+    <arg name="realistic_gazebo_sim" value="$(arg realistic_gazebo_sim)"/>
   </include>
 
   <!-- launch robot description and robot internal tf tree, along with any common nodes between h/w and software-->
diff --git a/bwi_launch/launch/simulation_v2.realistic_gazebo.launch b/bwi_launch/launch/simulation_v2.realistic_gazebo.launch
new file mode 100644
index 0000000..d609995
--- /dev/null
+++ b/bwi_launch/launch/simulation_v2.realistic_gazebo.launch
@@ -0,0 +1,10 @@
+<launch>
+
+  <include file="$(find bwi_launch)/launch/simulation_v2.launch">
+    <arg name="multimap_file" value="$(find utexas_gdc)/maps/real/multimap/3_only_multimap.yaml" />
+    <arg name="x" value="-9.0" />
+    <arg name="y" value="-12.0" />
+    <arg name="realistic_gazebo_sim" value="true"/>
+  </include>
+
+</launch>