diff --git a/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world b/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world
index 1e66bc9..c36701b 100644
--- a/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world
+++ b/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world
@@ -62,9 +62,10 @@ floorplan
   name "willow"
   bitmap "../maps/willow-full-0.025.pgm"
   size [58.300 45.625 1.000]
-  pose [ -22.812 29.150 0 90.000 ] 
+  pose [ 29.15 22.812 0 0.000 ] 
 )
 
 # throw in a robot
-pr2( pose [ -26.068 12.140 0 87.363 ] name "pr2" color "blue")
-block( pose [ -25.251 10.586 0 180.000 ] color "red")
+pr2( pose [ 18.67 9.79 0.0 90.0 ] name "pr2" color "blue")
+block( pose [ 18.71 12.62 0 180.000 ] color "red")
+
diff --git a/navigation_stage/stage_config/worlds/willow-pr2-5cm.world b/navigation_stage/stage_config/worlds/willow-pr2-5cm.world
index 37b3006..e98437d 100644
--- a/navigation_stage/stage_config/worlds/willow-pr2-5cm.world
+++ b/navigation_stage/stage_config/worlds/willow-pr2-5cm.world
@@ -62,9 +62,9 @@ floorplan
   name "willow"
   bitmap "../maps/willow-full-0.05.pgm"
   size [58.25 47.25 1.0]
-  pose [ -23.625 29.125 0 90.000 ]
+  pose [ 29.125 23.625 0 0.000 ]
 )
 
 # throw in a robot
-pr2( pose [ -21.670 47.120 0 28.166 ] name "pr2" color "blue")
-block( pose [ -24.269 48.001 0 180.000 ] color "red")
+pr2( pose [ 10.47 25.52 0.0 0.0 ] name "pr2" color "blue")
+block( pose [ 10.3 26.84 0 180.000 ] color "red")
diff --git a/navigation_stage/stage_config/worlds/willow-pr2.world b/navigation_stage/stage_config/worlds/willow-pr2.world
index 48c29e8..6106512 100644
--- a/navigation_stage/stage_config/worlds/willow-pr2.world
+++ b/navigation_stage/stage_config/worlds/willow-pr2.world
@@ -62,9 +62,9 @@ floorplan
   name "willow"
   bitmap "../maps/willow-full.pgm"
   size [58.4 52.6 0.5]
-  pose [ -26.300 29.200 0 90.000 ]
+  pose [ 29.200 26.300 0 0.000 ]
 )
 
 # throw in a robot
-pr2( pose [ -26.068 12.140 0 87.363 ] name "pr2" color "blue")
-block( pose [ -25.251 10.586 0 180.000 ] color "red")
+pr2( pose [ 18.67 12.62 0.0 90.0 ] name "pr2" color "blue")
+block( pose [ 18.71 16.0 0 180.000 ] color "red")