diff --git a/env_manager/README.md b/env_manager/README.md
index 0be0a57..85d1907 100644
--- a/env_manager/README.md
+++ b/env_manager/README.md
@@ -9,12 +9,12 @@ To get a local copy up and running follow these simple example steps.
 #### Prerequisites
 ```bash
 # install glog
-apt-get install libgoogle-glog-dev
+sudo apt-get install libgoogle-glog-dev
 
 #install lua
 wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
 tar zxf lua-5.3.1.tar.gz
-make -C lua-5.3.1 linux && make -C lua-5.3.1 install
+sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
 ```
 ### Config
 Configuration is done by lua.
diff --git a/rbs_simulation/worlds/mir.sdf b/rbs_simulation/worlds/mir.sdf
index 7614a4c..4031233 100644
--- a/rbs_simulation/worlds/mir.sdf
+++ b/rbs_simulation/worlds/mir.sdf
@@ -10,6 +10,9 @@
     <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
     <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
     <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
+        <render_engine>ogre2</render_engine>
+      </plugin>  
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
@@ -239,5 +242,52 @@
       <name>pyramid6</name>
       <pose>-0.9 0 0.6250 0 0 0</pose>
     </include> -->
+
+    <model name="camera">
+        <static>1</static>
+        <pose>2 0 1.0 0 0.0 3.14</pose>
+        <link name="link">
+          <pose>0.05 0.05 0.05 0 0 0</pose>
+          <inertial>
+            <mass>0.1</mass>
+            <inertia>
+              <ixx>0.000166667</ixx>
+              <iyy>0.000166667</iyy>
+              <izz>0.000166667</izz>
+            </inertia>
+          </inertial>
+          <collision name="collision">
+            <geometry>
+              <box>
+                <size>0.1 0.1 0.1</size>
+              </box>
+            </geometry>
+          </collision>
+          <visual name="visual">
+            <geometry>
+              <box>
+                <size>0.1 0.1 0.1</size>
+              </box>
+            </geometry>
+          </visual>
+          <sensor name="camera" type="camera">
+            <camera>
+              <horizontal_fov>1.047</horizontal_fov>
+              <image>
+                <width>320</width>
+                <height>240</height>
+              </image>
+              <clip>
+                <near>0.1</near>
+                <far>100</far>
+              </clip>
+            </camera>
+            <always_on>1</always_on>
+            <update_rate>30</update_rate>
+            <visualize>true</visualize>
+            <topic>camera</topic>
+          </sensor>
+        </link>
+      </model>  
   </world>
 </sdf>
\ No newline at end of file