diff --git a/experiments/karines_experiments/check-experiments-status.sh b/experiments/karines_experiments/check-experiments-status.sh
index c0c71a0b97..3c99b22394 100755
--- a/experiments/karines_experiments/check-experiments-status.sh
+++ b/experiments/karines_experiments/check-experiments-status.sh
@@ -1,8 +1,8 @@
 #!/bin/bash
 
-runs=10
-final_gen=149
-experiments=("hyperplasticodingseasons")
+runs=5
+final_gen=199
+experiments=("hyperplasticodingseasonsI15" "hyperplasticodingp" "hyperplasticodingt3")
 
 
 for i in $(seq $runs)
diff --git a/experiments/karines_experiments/consolidate_experiments.py b/experiments/karines_experiments/consolidate_experiments.py
index 3cfdda4860..fe51e5ba92 100644
--- a/experiments/karines_experiments/consolidate_experiments.py
+++ b/experiments/karines_experiments/consolidate_experiments.py
@@ -8,17 +8,18 @@
 dirpath = 'data/'
 
 experiments_type = [
-      'hyperplasticodingt4',
-'hyperplasticodingoldt4',
-'hyperplasticodingoldt3'
+ #'hyperplasticodingp',
+ #'hyperplasticodingt3',
+  'hyperplasticodingseasons'
+
 ]
 environments = {
-   'hyperplasticodingt4': ['tilted4'],
-    'hyperplasticodingoldt4': ['tilted4'],
-    'hyperplasticodingoldt3': ['tilted3']
+    #'hyperplasticodingp': ['plane'],
+    #'hyperplasticodingt3': ['tilted3'],
+    'hyperplasticodingseasons' : ['plane', 'tilted3']
                  }
 
-runs = range(1, 10+1)
+runs = range(1, 5+1)
 
 # set these variables according to your experiments #
 
diff --git a/experiments/karines_experiments/hyperplasticodingp.py b/experiments/karines_experiments/hyperplasticodingp.py
new file mode 100644
index 0000000000..f95df81f7a
--- /dev/null
+++ b/experiments/karines_experiments/hyperplasticodingp.py
@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+import asyncio
+
+from pyrevolve import parser
+from pyrevolve.evolution import fitness
+from pyrevolve.evolution.selection import multiple_selection, tournament_selection
+from pyrevolve.evolution.population import Population, PopulationConfig
+from pyrevolve.evolution.pop_management.steady_state import steady_state_population_management
+from pyrevolve.experiment_management import ExperimentManagement
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.crossover import CrossoverConfig
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.standard_crossover import standard_crossover
+from pyrevolve.genotype.hyperplasticoding_v2.initialization import random_initialization
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.mutation import MutationConfig
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.standard_mutation import standard_mutation
+from pyrevolve.genotype.hyperplasticoding_v2.hyperplasticoding import HyperPlasticodingConfig
+from pyrevolve.tol.manage import measures
+from pyrevolve.util.supervisor.simulator_queue import SimulatorQueue
+from pyrevolve.util.supervisor.analyzer_queue import AnalyzerQueue
+from pyrevolve.custom_logging.logger import logger
+import sys
+
+
+async def run():
+    """
+    The main coroutine, which is started below.
+    """
+
+    # experiment params #
+    num_generations = 200
+    population_size = 100
+    offspring_size = 100
+    front = 'none'
+
+    # environment world and z-start
+    environments = {'plane': 0.03 }
+
+    # calculation of the measures can be on or off, because they are expensive
+    novelty_on = {'novelty': False,
+                  'novelty_pop': True,
+                  'measures': ['branching',
+                               'limbs',
+                               'length_of_limbs',
+                               'coverage',
+                               'joints',
+                               'proportion',
+                               'size',
+                               'symmetry']
+                  }
+
+    cppn_config_path = 'pyrevolve/genotype/hyperplasticoding_v2/config-nonplastic'
+
+    genotype_conf = HyperPlasticodingConfig(
+        plastic=False,
+        cppn_config_path=cppn_config_path
+    )
+
+    mutation_conf = MutationConfig(
+        mutation_prob=1,
+        genotype_conf=genotype_conf,
+        cppn_config_path=cppn_config_path
+    )
+
+    crossover_conf = CrossoverConfig(
+        crossover_prob=0,
+        cppn_config_path=cppn_config_path
+    )
+
+    # experiment params #
+
+    # Parse command line / file input arguments
+    settings = parser.parse_args()
+
+    experiment_management = ExperimentManagement(settings, environments)
+    do_recovery = settings.recovery_enabled and not experiment_management.experiment_is_new()
+
+
+    logger.info('Activated run '+settings.run+' of experiment '+settings.experiment_name)
+
+    if do_recovery:
+        gen_num, has_offspring, next_robot_id = experiment_management.read_recovery_state(population_size,
+                                                                                          offspring_size)
+        if gen_num == num_generations-1:
+            logger.info('Experiment is already complete.')
+            return
+    else:
+        gen_num = 0
+        next_robot_id = 1
+
+    def fitness_function_plane(measures, robot):
+        return fitness.displacement_velocity_hill(measures, robot)
+
+    fitness_function = {'plane': fitness_function_plane}
+
+    population_conf = PopulationConfig(
+        population_size=population_size,
+        genotype_constructor=random_initialization,
+        genotype_conf=genotype_conf,
+        fitness_function=fitness_function,
+        mutation_operator=standard_mutation,
+        mutation_conf=mutation_conf,
+        crossover_operator=standard_crossover,
+        crossover_conf=crossover_conf,
+        selection=lambda individuals: tournament_selection(individuals, environments, 2),
+        parent_selection=lambda individuals: multiple_selection(individuals, 2, tournament_selection, environments),
+        population_management=steady_state_population_management,
+        population_management_selector=tournament_selection,
+        evaluation_time=settings.evaluation_time,
+        offspring_size=offspring_size,
+        experiment_name=settings.experiment_name,
+        experiment_management=experiment_management,
+        environments=environments,
+        novelty_on=novelty_on,
+        front=front,
+        run_simulation=settings.run_simulation,
+        all_settings=settings,
+    )
+
+    simulator_queue = {}
+    analyzer_queue = None
+
+    if settings.run_simulation == 1:
+        previous_port = None
+        for environment in environments:
+
+            settings.world = environment
+            settings.z_start = environments[environment]
+
+            if previous_port is None:
+                port = settings.port_start
+                previous_port = port
+            else:
+                port = previous_port+settings.n_cores
+                previous_port = port
+
+            simulator_queue[environment] = SimulatorQueue(settings.n_cores, settings, port)
+            await simulator_queue[environment].start()
+
+        analyzer_queue = AnalyzerQueue(1, settings, port+settings.n_cores)
+        await analyzer_queue.start()
+
+    population = Population(population_conf, simulator_queue, analyzer_queue, next_robot_id)
+
+    if do_recovery:
+
+        population.load_novelty_archive()
+
+        if gen_num >= 0:
+            # loading a previous state of the experiment
+            await population.load_snapshot(gen_num)
+            logger.info('Recovered snapshot '+str(gen_num)+', pop with ' + str(len(population.individuals))+' individuals')
+
+        if has_offspring:
+            individuals = await population.load_offspring(gen_num, population_size, offspring_size, next_robot_id)
+            gen_num += 1
+            logger.info('Recovered unfinished offspring '+str(gen_num))
+
+            if gen_num == 0:
+                await population.init_pop(individuals)
+            else:
+                population = await population.next_gen(gen_num, individuals)
+
+            experiment_management.export_snapshots(population.individuals, gen_num)
+    else:
+        # starting a new experiment
+        experiment_management.create_exp_folders()
+        await population.init_pop()
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    while gen_num < num_generations-1:
+        gen_num += 1
+        population = await population.next_gen(gen_num)
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    # output result after completing all generations...
\ No newline at end of file
diff --git a/experiments/karines_experiments/hyperplasticodingseasons.py b/experiments/karines_experiments/hyperplasticodingseasons.py
new file mode 100644
index 0000000000..1f6b0e68df
--- /dev/null
+++ b/experiments/karines_experiments/hyperplasticodingseasons.py
@@ -0,0 +1,177 @@
+#!/usr/bin/env python3
+import asyncio
+
+from pyrevolve import parser
+from pyrevolve.evolution import fitness
+from pyrevolve.evolution.selection import multiple_selection, tournament_selection
+from pyrevolve.evolution.population import Population, PopulationConfig
+from pyrevolve.evolution.pop_management.steady_state import steady_state_population_management
+from pyrevolve.experiment_management import ExperimentManagement
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.crossover import CrossoverConfig
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.standard_crossover import standard_crossover
+from pyrevolve.genotype.hyperplasticoding_v2.initialization import random_initialization
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.mutation import MutationConfig
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.standard_mutation import standard_mutation
+from pyrevolve.genotype.hyperplasticoding_v2.hyperplasticoding import HyperPlasticodingConfig
+from pyrevolve.tol.manage import measures
+from pyrevolve.util.supervisor.simulator_queue import SimulatorQueue
+from pyrevolve.util.supervisor.analyzer_queue import AnalyzerQueue
+from pyrevolve.custom_logging.logger import logger
+import sys
+
+
+async def run():
+    """
+    The main coroutine, which is started below.
+    """
+
+    # experiment params #
+    num_generations = 200
+    population_size = 100
+    offspring_size = 100
+    front = 'slaves'
+
+    # environment world and z-start
+    environments = {'plane': 0.03,
+                    'tilted3': 0.08 }
+
+    # calculation of the measures can be on or off, because they are expensive
+    novelty_on = {'novelty': False,
+                  'novelty_pop': True,
+                  'measures': ['branching',
+                               'limbs',
+                               'length_of_limbs',
+                               'coverage',
+                               'joints',
+                               'proportion',
+                               'size',
+                               'symmetry']
+                  }
+
+    cppn_config_path = 'pyrevolve/genotype/hyperplasticoding_v2/config-plastic'
+
+    genotype_conf = HyperPlasticodingConfig(
+        plastic=True,
+        cppn_config_path=cppn_config_path
+    )
+
+    mutation_conf = MutationConfig(
+        mutation_prob=1,
+        genotype_conf=genotype_conf,
+        cppn_config_path=cppn_config_path
+    )
+
+    crossover_conf = CrossoverConfig(
+        crossover_prob=0,
+        cppn_config_path=cppn_config_path
+    )
+
+    # experiment params #
+
+    # Parse command line / file input arguments
+    settings = parser.parse_args()
+
+    experiment_management = ExperimentManagement(settings, environments)
+    do_recovery = settings.recovery_enabled and not experiment_management.experiment_is_new()
+
+
+    logger.info('Activated run '+settings.run+' of experiment '+settings.experiment_name)
+
+    if do_recovery:
+        gen_num, has_offspring, next_robot_id = experiment_management.read_recovery_state(population_size,
+                                                                                          offspring_size)
+        if gen_num == num_generations-1:
+            logger.info('Experiment is already complete.')
+            return
+    else:
+        gen_num = 0
+        next_robot_id = 1
+
+    def fitness_function_plane(measures, robot):
+        return fitness.displacement_velocity_hill(measures, robot)
+
+    # using the same function
+    fitness_function = {'plane': fitness_function_plane,
+                        'tilted3': fitness_function_plane}
+
+    population_conf = PopulationConfig(
+        population_size=population_size,
+        genotype_constructor=random_initialization,
+        genotype_conf=genotype_conf,
+        fitness_function=fitness_function,
+        mutation_operator=standard_mutation,
+        mutation_conf=mutation_conf,
+        crossover_operator=standard_crossover,
+        crossover_conf=crossover_conf,
+        selection=lambda individuals: tournament_selection(individuals, environments, 2),
+        parent_selection=lambda individuals: multiple_selection(individuals, 2, tournament_selection, environments),
+        population_management=steady_state_population_management,
+        population_management_selector=tournament_selection,
+        evaluation_time=settings.evaluation_time,
+        offspring_size=offspring_size,
+        experiment_name=settings.experiment_name,
+        experiment_management=experiment_management,
+        environments=environments,
+        novelty_on=novelty_on,
+        front=front,
+        run_simulation=settings.run_simulation,
+        all_settings=settings,
+    )
+
+    simulator_queue = {}
+    analyzer_queue = None
+
+    if settings.run_simulation == 1:
+        previous_port = None
+        for environment in environments:
+
+            settings.world = environment
+            settings.z_start = environments[environment]
+
+            if previous_port is None:
+                port = settings.port_start
+                previous_port = port
+            else:
+                port = previous_port+settings.n_cores
+                previous_port = port
+
+            simulator_queue[environment] = SimulatorQueue(settings.n_cores, settings, port)
+            await simulator_queue[environment].start()
+
+        analyzer_queue = AnalyzerQueue(1, settings, port+settings.n_cores)
+        await analyzer_queue.start()
+
+    population = Population(population_conf, simulator_queue, analyzer_queue, next_robot_id)
+
+    if do_recovery:
+
+        population.load_novelty_archive()
+
+        if gen_num >= 0:
+            # loading a previous state of the experiment
+            await population.load_snapshot(gen_num)
+            logger.info('Recovered snapshot '+str(gen_num)+', pop with ' + str(len(population.individuals))+' individuals')
+
+        if has_offspring:
+            individuals = await population.load_offspring(gen_num, population_size, offspring_size, next_robot_id)
+            gen_num += 1
+            logger.info('Recovered unfinished offspring '+str(gen_num))
+
+            if gen_num == 0:
+                await population.init_pop(individuals)
+            else:
+                population = await population.next_gen(gen_num, individuals)
+
+            experiment_management.export_snapshots(population.individuals, gen_num)
+    else:
+        # starting a new experiment
+        experiment_management.create_exp_folders()
+        await population.init_pop()
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    while gen_num < num_generations-1:
+        gen_num += 1
+        population = await population.next_gen(gen_num)
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    # output result after completing all generations...
\ No newline at end of file
diff --git a/experiments/karines_experiments/hyperplasticodingseasonsI15.py b/experiments/karines_experiments/hyperplasticodingseasonsI15.py
new file mode 100644
index 0000000000..1f6b0e68df
--- /dev/null
+++ b/experiments/karines_experiments/hyperplasticodingseasonsI15.py
@@ -0,0 +1,177 @@
+#!/usr/bin/env python3
+import asyncio
+
+from pyrevolve import parser
+from pyrevolve.evolution import fitness
+from pyrevolve.evolution.selection import multiple_selection, tournament_selection
+from pyrevolve.evolution.population import Population, PopulationConfig
+from pyrevolve.evolution.pop_management.steady_state import steady_state_population_management
+from pyrevolve.experiment_management import ExperimentManagement
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.crossover import CrossoverConfig
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.standard_crossover import standard_crossover
+from pyrevolve.genotype.hyperplasticoding_v2.initialization import random_initialization
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.mutation import MutationConfig
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.standard_mutation import standard_mutation
+from pyrevolve.genotype.hyperplasticoding_v2.hyperplasticoding import HyperPlasticodingConfig
+from pyrevolve.tol.manage import measures
+from pyrevolve.util.supervisor.simulator_queue import SimulatorQueue
+from pyrevolve.util.supervisor.analyzer_queue import AnalyzerQueue
+from pyrevolve.custom_logging.logger import logger
+import sys
+
+
+async def run():
+    """
+    The main coroutine, which is started below.
+    """
+
+    # experiment params #
+    num_generations = 200
+    population_size = 100
+    offspring_size = 100
+    front = 'slaves'
+
+    # environment world and z-start
+    environments = {'plane': 0.03,
+                    'tilted3': 0.08 }
+
+    # calculation of the measures can be on or off, because they are expensive
+    novelty_on = {'novelty': False,
+                  'novelty_pop': True,
+                  'measures': ['branching',
+                               'limbs',
+                               'length_of_limbs',
+                               'coverage',
+                               'joints',
+                               'proportion',
+                               'size',
+                               'symmetry']
+                  }
+
+    cppn_config_path = 'pyrevolve/genotype/hyperplasticoding_v2/config-plastic'
+
+    genotype_conf = HyperPlasticodingConfig(
+        plastic=True,
+        cppn_config_path=cppn_config_path
+    )
+
+    mutation_conf = MutationConfig(
+        mutation_prob=1,
+        genotype_conf=genotype_conf,
+        cppn_config_path=cppn_config_path
+    )
+
+    crossover_conf = CrossoverConfig(
+        crossover_prob=0,
+        cppn_config_path=cppn_config_path
+    )
+
+    # experiment params #
+
+    # Parse command line / file input arguments
+    settings = parser.parse_args()
+
+    experiment_management = ExperimentManagement(settings, environments)
+    do_recovery = settings.recovery_enabled and not experiment_management.experiment_is_new()
+
+
+    logger.info('Activated run '+settings.run+' of experiment '+settings.experiment_name)
+
+    if do_recovery:
+        gen_num, has_offspring, next_robot_id = experiment_management.read_recovery_state(population_size,
+                                                                                          offspring_size)
+        if gen_num == num_generations-1:
+            logger.info('Experiment is already complete.')
+            return
+    else:
+        gen_num = 0
+        next_robot_id = 1
+
+    def fitness_function_plane(measures, robot):
+        return fitness.displacement_velocity_hill(measures, robot)
+
+    # using the same function
+    fitness_function = {'plane': fitness_function_plane,
+                        'tilted3': fitness_function_plane}
+
+    population_conf = PopulationConfig(
+        population_size=population_size,
+        genotype_constructor=random_initialization,
+        genotype_conf=genotype_conf,
+        fitness_function=fitness_function,
+        mutation_operator=standard_mutation,
+        mutation_conf=mutation_conf,
+        crossover_operator=standard_crossover,
+        crossover_conf=crossover_conf,
+        selection=lambda individuals: tournament_selection(individuals, environments, 2),
+        parent_selection=lambda individuals: multiple_selection(individuals, 2, tournament_selection, environments),
+        population_management=steady_state_population_management,
+        population_management_selector=tournament_selection,
+        evaluation_time=settings.evaluation_time,
+        offspring_size=offspring_size,
+        experiment_name=settings.experiment_name,
+        experiment_management=experiment_management,
+        environments=environments,
+        novelty_on=novelty_on,
+        front=front,
+        run_simulation=settings.run_simulation,
+        all_settings=settings,
+    )
+
+    simulator_queue = {}
+    analyzer_queue = None
+
+    if settings.run_simulation == 1:
+        previous_port = None
+        for environment in environments:
+
+            settings.world = environment
+            settings.z_start = environments[environment]
+
+            if previous_port is None:
+                port = settings.port_start
+                previous_port = port
+            else:
+                port = previous_port+settings.n_cores
+                previous_port = port
+
+            simulator_queue[environment] = SimulatorQueue(settings.n_cores, settings, port)
+            await simulator_queue[environment].start()
+
+        analyzer_queue = AnalyzerQueue(1, settings, port+settings.n_cores)
+        await analyzer_queue.start()
+
+    population = Population(population_conf, simulator_queue, analyzer_queue, next_robot_id)
+
+    if do_recovery:
+
+        population.load_novelty_archive()
+
+        if gen_num >= 0:
+            # loading a previous state of the experiment
+            await population.load_snapshot(gen_num)
+            logger.info('Recovered snapshot '+str(gen_num)+', pop with ' + str(len(population.individuals))+' individuals')
+
+        if has_offspring:
+            individuals = await population.load_offspring(gen_num, population_size, offspring_size, next_robot_id)
+            gen_num += 1
+            logger.info('Recovered unfinished offspring '+str(gen_num))
+
+            if gen_num == 0:
+                await population.init_pop(individuals)
+            else:
+                population = await population.next_gen(gen_num, individuals)
+
+            experiment_management.export_snapshots(population.individuals, gen_num)
+    else:
+        # starting a new experiment
+        experiment_management.create_exp_folders()
+        await population.init_pop()
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    while gen_num < num_generations-1:
+        gen_num += 1
+        population = await population.next_gen(gen_num)
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    # output result after completing all generations...
\ No newline at end of file
diff --git a/experiments/karines_experiments/hyperplasticodingt3.py b/experiments/karines_experiments/hyperplasticodingt3.py
new file mode 100644
index 0000000000..5c8c22095f
--- /dev/null
+++ b/experiments/karines_experiments/hyperplasticodingt3.py
@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+import asyncio
+
+from pyrevolve import parser
+from pyrevolve.evolution import fitness
+from pyrevolve.evolution.selection import multiple_selection, tournament_selection
+from pyrevolve.evolution.population import Population, PopulationConfig
+from pyrevolve.evolution.pop_management.steady_state import steady_state_population_management
+from pyrevolve.experiment_management import ExperimentManagement
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.crossover import CrossoverConfig
+from pyrevolve.genotype.hyperplasticoding_v2.crossover.standard_crossover import standard_crossover
+from pyrevolve.genotype.hyperplasticoding_v2.initialization import random_initialization
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.mutation import MutationConfig
+from pyrevolve.genotype.hyperplasticoding_v2.mutation.standard_mutation import standard_mutation
+from pyrevolve.genotype.hyperplasticoding_v2.hyperplasticoding import HyperPlasticodingConfig
+from pyrevolve.tol.manage import measures
+from pyrevolve.util.supervisor.simulator_queue import SimulatorQueue
+from pyrevolve.util.supervisor.analyzer_queue import AnalyzerQueue
+from pyrevolve.custom_logging.logger import logger
+import sys
+
+
+async def run():
+    """
+    The main coroutine, which is started below.
+    """
+
+    # experiment params #
+    num_generations = 200
+    population_size = 100
+    offspring_size = 100
+    front = 'none'
+
+    # environment world and z-start
+    environments = { 'tilted3': 0.08   }
+
+    # calculation of the measures can be on or off, because they are expensive
+    novelty_on = {'novelty': False,
+                  'novelty_pop': True,
+                  'measures': ['branching',
+                               'limbs',
+                               'length_of_limbs',
+                               'coverage',
+                               'joints',
+                               'proportion',
+                               'size',
+                               'symmetry']
+                  }
+
+    cppn_config_path = 'pyrevolve/genotype/hyperplasticoding_v2/config-nonplastic'
+
+    genotype_conf = HyperPlasticodingConfig(
+        plastic=False,
+        cppn_config_path=cppn_config_path
+    )
+
+    mutation_conf = MutationConfig(
+        mutation_prob=1,
+        genotype_conf=genotype_conf,
+        cppn_config_path=cppn_config_path
+    )
+
+    crossover_conf = CrossoverConfig(
+        crossover_prob=0,
+        cppn_config_path=cppn_config_path
+    )
+
+    # experiment params #
+
+    # Parse command line / file input arguments
+    settings = parser.parse_args()
+
+    experiment_management = ExperimentManagement(settings, environments)
+    do_recovery = settings.recovery_enabled and not experiment_management.experiment_is_new()
+
+
+    logger.info('Activated run '+settings.run+' of experiment '+settings.experiment_name)
+
+    if do_recovery:
+        gen_num, has_offspring, next_robot_id = experiment_management.read_recovery_state(population_size,
+                                                                                          offspring_size)
+        if gen_num == num_generations-1:
+            logger.info('Experiment is already complete.')
+            return
+    else:
+        gen_num = 0
+        next_robot_id = 1
+
+    def fitness_function_plane(measures, robot):
+        return fitness.displacement_velocity_hill(measures, robot)
+
+    fitness_function = {'tilted3': fitness_function_plane}
+
+    population_conf = PopulationConfig(
+        population_size=population_size,
+        genotype_constructor=random_initialization,
+        genotype_conf=genotype_conf,
+        fitness_function=fitness_function,
+        mutation_operator=standard_mutation,
+        mutation_conf=mutation_conf,
+        crossover_operator=standard_crossover,
+        crossover_conf=crossover_conf,
+        selection=lambda individuals: tournament_selection(individuals, environments, 2),
+        parent_selection=lambda individuals: multiple_selection(individuals, 2, tournament_selection, environments),
+        population_management=steady_state_population_management,
+        population_management_selector=tournament_selection,
+        evaluation_time=settings.evaluation_time,
+        offspring_size=offspring_size,
+        experiment_name=settings.experiment_name,
+        experiment_management=experiment_management,
+        environments=environments,
+        novelty_on=novelty_on,
+        front=front,
+        run_simulation=settings.run_simulation,
+        all_settings=settings,
+    )
+
+    simulator_queue = {}
+    analyzer_queue = None
+
+    if settings.run_simulation == 1:
+        previous_port = None
+        for environment in environments:
+
+            settings.world = environment
+            settings.z_start = environments[environment]
+
+            if previous_port is None:
+                port = settings.port_start
+                previous_port = port
+            else:
+                port = previous_port+settings.n_cores
+                previous_port = port
+
+            simulator_queue[environment] = SimulatorQueue(settings.n_cores, settings, port)
+            await simulator_queue[environment].start()
+
+        analyzer_queue = AnalyzerQueue(1, settings, port+settings.n_cores)
+        await analyzer_queue.start()
+
+    population = Population(population_conf, simulator_queue, analyzer_queue, next_robot_id)
+
+    if do_recovery:
+
+        population.load_novelty_archive()
+
+        if gen_num >= 0:
+            # loading a previous state of the experiment
+            await population.load_snapshot(gen_num)
+            logger.info('Recovered snapshot '+str(gen_num)+', pop with ' + str(len(population.individuals))+' individuals')
+
+        if has_offspring:
+            individuals = await population.load_offspring(gen_num, population_size, offspring_size, next_robot_id)
+            gen_num += 1
+            logger.info('Recovered unfinished offspring '+str(gen_num))
+
+            if gen_num == 0:
+                await population.init_pop(individuals)
+            else:
+                population = await population.next_gen(gen_num, individuals)
+
+            experiment_management.export_snapshots(population.individuals, gen_num)
+    else:
+        # starting a new experiment
+        experiment_management.create_exp_folders()
+        await population.init_pop()
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    while gen_num < num_generations-1:
+        gen_num += 1
+        population = await population.next_gen(gen_num)
+        experiment_management.export_snapshots(population.individuals, gen_num)
+
+    # output result after completing all generations...
\ No newline at end of file
diff --git a/experiments/karines_experiments/plots_intermethods.r b/experiments/karines_experiments/plots_intermethods.r
index 799aa90400..59fe690ca9 100644
--- a/experiments/karines_experiments/plots_intermethods.r
+++ b/experiments/karines_experiments/plots_intermethods.r
@@ -13,43 +13,37 @@ library(viridis)
 
 #### CHANGE THE PARAMETERS HERE ####
 
-base_directory <- c('data/hyper_big',
-                    'data', 'data', 'data', 'data')
+base_directory <- c(
+                    '/storage/karine/hyper_big',  'data', '/storage/karine/hyper_big')
 
-analysis = 'analysis_t3'
+analysis = 'analysis'
 output_directory = paste(base_directory[2],'/',analysis ,sep='')
 
 experiments_type = c('hyperplasticoding_p',
-                     'hyperplasticodingt3',
-                     'hyperplasticodingt4',
-                     'hyperplasticodingoldt3',
-                     'hyperplasticodingoldt4' )
-runs = list(c(1:10),
-            c(1:10) ,
-            c(1:10),
-            c(1:10),
-            c(1:10))
+
+                     'hyperplasticodingseasons',  'hyperplasticodingt3' )
+runs = list(c(1:5),
+            c(1:5) ,
+            c(1:5))
 environments = list( c('plane'),
-                     c('tilted3') ,
-                     c('tilted4'),
-                     c('tilted3') ,
-                     c('tilted4')
+
+                     c('plane', 'tilted3'),
+                     c('tilted3')
                      
                      )
 
 # methods are product of experiments_type VS environments and should be coupled with colors.
 # make sure to define methods_labels in alphabetic order, and experiments_type accordingly
-methods_labels = c( 'hyperplasticoding_p',
-                    'hyperplasticodingt3',
-                    'hyperplasticodingt4',
-                    'hyperplasticodingoldt3',
-                    'hyperplasticodingoldt4') # note that labels of Plane death and Tilted death are INVERTED on purpose, to fix the mistake done when naming the experiments.
+methods_labels = c( 'plane',
+                    'plastic plane',
+                     'plastic tilted',
+                      'tilted'
+                     ) # note that labels of Plane death and Tilted death are INVERTED on purpose, to fix the mistake done when naming the experiments.
 
 experiments_type_colors = c('#009900',
                             '#EE8610',
                             '#7550ff',
-                            '#EE8245',
-                            '#8760ff')
+                            '#876044' )
 
 #aggregations = c('min', 'Q25','mean', 'median', 'Q75','max')
 aggregations = c('median')
@@ -328,7 +322,7 @@ for (i in 1:length(measures_names))
     graph = graph  +  labs(y=measures_labels[i], x="Generation", title="")
 
     graph = graph +   scale_color_manual(values=experiments_type_colors)
-    graph = graph  + theme(legend.position="bottom" ,  legend.text=element_text(size=25), axis.text=element_text(size=32), axis.title=element_text(size=30),
+    graph = graph  + theme(legend.position="right" ,  legend.text=element_text(size=25), axis.text=element_text(size=32), axis.title=element_text(size=30),
                            plot.subtitle=element_text(size=30 ), plot.title=element_text(size=30 ))
 
     ggsave(paste( output_directory,'/',measures_names[i], '_', aggregations[a], '_lines.pdf',  sep=''), graph , device='pdf', height = 10, width = 10)
@@ -396,7 +390,8 @@ for (i in 1:length(measures_names))
 
         g1 = g1 + geom_signif( test="wilcox.test", size=1, textsize=14, step_increase=0.15,
                                comparisons = comps,
-                               map_signif_level=c("***"=0.001,"**"=0.01, "*"=0.05)  )
+                               #map_signif_level=c("***"=0.001,"**"=0.01, "*"=0.05)  )
+                               map_signif_level=c( )  )
 
         if (out == 'full' || (out == 'filtered' &&  has_outliers == TRUE) ){
           ggsave(paste(output_directory,"/",measures_names[i],"_",gc,"_", aggregations[a],'_', out,"_boxes.pdf",sep = ""), g1, device = "pdf", height=18, width = 10)
diff --git a/experiments/karines_experiments/render_bestrobots.r b/experiments/karines_experiments/render_bestrobots.r
index 11a6ba80fb..30fd21cd8a 100644
--- a/experiments/karines_experiments/render_bestrobots.r
+++ b/experiments/karines_experiments/render_bestrobots.r
@@ -5,27 +5,22 @@ require('magick')
 ##### change paths/labels/params here #####
 
 
-paths = c('hyperplasticodingt4',
-          'hyperplasticodingoldt4',
-          'hyperplasticodingoldt3')
+paths = c('hyperplasticodingseasons' )
 
 environments = list(
-  c( 'tilted4'),
-  c( 'tilted4'),
-  c( 'tilted3')#,
-  #c( 'tilted5')
+  c('plane', 'tilted3')
+
 )
 
-colors = list( c('#ffffff'),c('#ffffff'),
-               c('#ffffff') )
+colors = list( c('#ffffff','#ffff44')  )
 
 base_directory <- paste('data/', sep='')
 
-analysis = 'analysis_t3'
+analysis = 'analysis'
 
-runs = list( c(1:10),c(1:10),c(1:10))
+runs = list( c(1:5),c(1:10),c(1:10))
 pop = 100
-num_top = 3
+num_top = 20
 
 gens = c(149)
 criteria = c('desc')
diff --git a/experiments/karines_experiments/setup-experiments.sh b/experiments/karines_experiments/setup-experiments.sh
index 38fa2d29c6..1b4a8d4d69 100755
--- a/experiments/karines_experiments/setup-experiments.sh
+++ b/experiments/karines_experiments/setup-experiments.sh
@@ -2,12 +2,12 @@
 #set -e
 #set -x
 
-runs=10
+runs=5
 
-num_terminals=5
+num_terminals=6
 start_port=8000
-final_gen=149
-experiments=("hyperplasticodingseasons")
+final_gen=199
+experiments=("hyperplasticodingseasonsI15" "hyperplasticodingp" "hyperplasticodingt3")
 experiments_path=karines_experiments/data/
 managers_path=experiments/karines_experiments/
 
diff --git a/models/tilted3/meshes/tilted3.dae b/models/tilted3/meshes/tilted3.dae
new file mode 100644
index 0000000000..da8af6c855
--- /dev/null
+++ b/models/tilted3/meshes/tilted3.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-15T16:01:27</created>
+    <modified>2021-03-15T16:01:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01834756 0.3800506 0.06089931 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="12">-1 -1 0 1 -1 0 -1 1 0 1 1 0</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="3">0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="1" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="2">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <p>1 0 2 0 0 0 1 0 3 0 2 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">11.96257 0 0 -0.3712567 0 8.05979 -0.05233596 0 0 0.4223957 0.9986295 0 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/models/tilted3/model.config b/models/tilted3/model.config
new file mode 100644
index 0000000000..9c8d506a9c
--- /dev/null
+++ b/models/tilted3/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Ground Plane</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A simple ground plane.
+  </description>
+</model>
diff --git a/models/tilted4/meshes/tilted4.dae b/models/tilted4/meshes/tilted4.dae
new file mode 100644
index 0000000000..ec80dbc124
--- /dev/null
+++ b/models/tilted4/meshes/tilted4.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-03-16T23:46:43</created>
+    <modified>2021-03-16T23:46:43</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01834756 0.3800506 0.06089931 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="12">-1 -1 0 1 -1 0 -1 1 0 1 1 0</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="3">0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="1" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="2">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <p>1 0 2 0 0 0 1 0 3 0 2 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">11.96257 0 0 -0.3712567 0 8.05119 -0.06975647 0 0 0.5629941 0.9975641 0 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/models/tilted4/model.config b/models/tilted4/model.config
new file mode 100644
index 0000000000..9c8d506a9c
--- /dev/null
+++ b/models/tilted4/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Ground Plane</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A simple ground plane.
+  </description>
+</model>
diff --git a/pyrevolve/evolution/__pycache__/selection.cpython-37.pyc b/pyrevolve/evolution/__pycache__/selection.cpython-37.pyc
index 72f6c84aae..169337771e 100644
Binary files a/pyrevolve/evolution/__pycache__/selection.cpython-37.pyc and b/pyrevolve/evolution/__pycache__/selection.cpython-37.pyc differ
diff --git a/pyrevolve/genotype/hyperplasticoding_v2/config-plastic b/pyrevolve/genotype/hyperplasticoding_v2/config-plastic
new file mode 100644
index 0000000000..d62eb469b7
--- /dev/null
+++ b/pyrevolve/genotype/hyperplasticoding_v2/config-plastic
@@ -0,0 +1,85 @@
+[NEAT]
+fitness_criterion     = max
+fitness_threshold     = 100
+pop_size              = 150
+reset_on_extinction   = False
+
+[DefaultGenome]
+# node activation options
+activation_default      = random
+activation_mutate_rate  = 0.1
+activation_options      = sigmoid sin gauss tanh abs inv
+
+# network parameters.
+# inputs: x dest, y dest, inclination
+# outputs: b_module, b2_module, a1_module, a2_module, period, phase_offset, amplitude
+num_hidden              = 0
+#num_hidden              = 2
+num_inputs              = 3
+num_outputs             = 7
+
+# connection add/remove rates
+conn_add_prob           = 0.2
+conn_delete_prob        = 0.2
+
+# node add/remove rates
+node_add_prob           = 0.1
+node_delete_prob        = 0.1
+
+# node aggregation options
+aggregation_default     = sum
+aggregation_mutate_rate = 0.0
+aggregation_options     = sum
+
+# node bias options
+bias_init_mean          = 0
+bias_init_stdev         = 0
+bias_max_value          = 30
+bias_min_value          = -30
+bias_mutate_power       = 0.5
+bias_mutate_rate        = 0.7
+bias_replace_rate       = 0.1
+
+# genome compatibility options
+compatibility_disjoint_coefficient = 1.0
+compatibility_weight_coefficient   = 0.5
+
+# connection enable options
+enabled_default         = True
+enabled_mutate_rate     = 0.01
+
+feed_forward            = True
+initial_connection      = full
+#initial_connection      = full_direct
+
+# node response options
+response_init_mean      = 1.0
+response_init_stdev     = 0.0
+response_max_value      = 30.0
+response_min_value      = -30.0
+response_mutate_power   = 0.0
+response_mutate_rate    = 0.0
+response_replace_rate   = 0.0
+
+# connection weight options
+#weight_init_type        = uniform
+weight_init_mean        = 0.0
+weight_init_stdev       = 1
+weight_max_value        = 30
+weight_min_value        = -30
+weight_mutate_power     = 0.5
+weight_mutate_rate      = 0.8
+weight_replace_rate     = 0.1
+
+[DefaultSpeciesSet]
+compatibility_threshold = 3
+
+[DefaultStagnation]
+species_fitness_func = max
+max_stagnation       = 20
+species_elitism      = 2
+
+[DefaultReproduction]
+elitism            = 2
+survival_threshold = 0.2
+
diff --git a/pyrevolve/genotype/hyperplasticoding_v2/hyperplasticoding.py b/pyrevolve/genotype/hyperplasticoding_v2/hyperplasticoding.py
index b03c5adfbc..b443540f26 100644
--- a/pyrevolve/genotype/hyperplasticoding_v2/hyperplasticoding.py
+++ b/pyrevolve/genotype/hyperplasticoding_v2/hyperplasticoding.py
@@ -68,7 +68,6 @@ def random_init(self):
 
     def develop(self, environment):
 
-        print('\n', environment)
          # Applyies regulation according to environmental conditions.
         if self.conf.plastic:
 
@@ -77,7 +76,7 @@ def develop(self, environment):
             if environment == 'plane':
                 self.environmental_conditions['inclined'] = 0
             if environment == 'tilted3':
-                self.environmental_conditions['inclined'] = 1
+                self.environmental_conditions['inclined'] = 15
 
         self.random = random.Random(self.querying_seed)
 
@@ -294,7 +293,11 @@ def get_angle(self, module_type, parent):
 
     def query_body_part(self, x_dest, y_dest, cppn):
 
-        outputs = cppn.activate(( self.environmental_conditions['inclined'], x_dest, y_dest))
+        if self.conf.plastic:
+            outputs = cppn.activate(( self.environmental_conditions['inclined'], x_dest, y_dest))
+        else:
+            outputs = cppn.activate(( x_dest, y_dest))
+
         which_module = {
 
             'b_module': outputs[0],
@@ -309,7 +312,11 @@ def query_body_part(self, x_dest, y_dest, cppn):
 
     def query_brain_part(self, x_dest, y_dest, cppn):
 
-        outputs = cppn.activate(( self.environmental_conditions['inclined'], x_dest, y_dest))
+        if self.conf.plastic:
+            outputs = cppn.activate(( self.environmental_conditions['inclined'], x_dest, y_dest))
+        else:
+            outputs = cppn.activate(( x_dest, y_dest))
+
         params = {
             'period': outputs[4],
             'phase_offset': outputs[5],
diff --git a/worlds/plane.world.record b/worlds/plane.world.record
new file mode 100644
index 0000000000..02edbb6610
--- /dev/null
+++ b/worlds/plane.world.record
@@ -0,0 +1,69 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+    <world name="default">
+        <scene>
+            <origin_visual>0</origin_visual>
+            <grid>0</grid>
+        </scene>
+        <physics type="ode">
+            <max_step_size>0.005</max_step_size>
+            <!-- Simulation == real time -->
+            <real_time_update_rate>200</real_time_update_rate>
+            <!-- Run as fast as possible
+            <real_time_update_rate>0</real_time_update_rate>-->
+            <ode>
+                <constraints>
+                    <!-- Simulator.cpp -->
+                    <erp>0.1</erp>
+                    <cfm>10e-6</cfm>
+                    <!-- Making this smaller seems to decrease rather than increase stability. -->
+                    <contact_max_correcting_vel>100</contact_max_correcting_vel>
+                    <contact_surface_layer>1e-8</contact_surface_layer>
+                </constraints>
+                <solver>
+                    <type>world</type>
+                </solver>
+            </ode>
+        </physics>
+        <gui/>
+        <!-- A global light source -->
+        <include>
+            <uri>model://sun</uri>
+        </include>
+        <include>
+            <uri>model://tol_ground</uri>
+        </include>
+        <plugin name="revolve-world" filename="libWorldControlPlugin.so" />
+            <model name='camera'>
+              <static>true</static>
+              <pose>-3 3 2 0 0.3 -1.1</pose>
+              <link name='link'>
+                <visual name='visual'>
+                  <geometry>
+                    <box>
+                      <size>0.1 0.1 0.1</size>
+                    </box>
+                  </geometry>
+                </visual>
+                <sensor name='my_camera' type='camera'>
+                  <camera>
+                    <save enabled="true">
+                      <path>/net/ripper2/home/karinemiras/projects/revolve/experiments/karines_experiments</path>
+                    </save>
+                    <horizontal_fov>1.047</horizontal_fov>
+                    <image>
+                      <width>1920</width>
+                      <height>1080</height>
+                    </image>
+                    <clip>
+                      <near>0.1</near>
+                      <far>100</far>
+                    </clip>
+                  </camera>
+                  <always_on>1</always_on>
+                  <update_rate>4</update_rate>
+                </sensor>
+              </link>
+            </model>
+    </world>
+</sdf>
\ No newline at end of file
diff --git a/worlds/tilted3.world b/worlds/tilted3.world
new file mode 100644
index 0000000000..467b1bf78d
--- /dev/null
+++ b/worlds/tilted3.world
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <scene>
+        <origin_visual>0</origin_visual>
+        <grid>0</grid>
+    </scene>
+    <physics type="ode">
+      <max_step_size>0.003</max_step_size>
+
+      <!-- Run as fast as possible -->
+      <real_time_update_rate>0</real_time_update_rate>
+      <ode>
+        <constraints>
+          <!-- Simulator.cpp -->
+          <erp>0.1</erp>
+          <cfm>10e-6</cfm>
+
+          <!-- Making this smaller seems to decrease rather than increase stability. -->
+          <contact_max_correcting_vel>100</contact_max_correcting_vel>
+          <contact_surface_layer>1e-8</contact_surface_layer>
+        </constraints>
+        <solver>
+          <type>quick</type>
+        </solver>
+      </ode>
+
+    </physics>
+
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <include>
+      <uri>model://tilted3</uri>
+    </include>
+
+    <plugin name="revolve-world" filename="libWorldControlPlugin.so" />
+  </world>
+</sdf>
diff --git a/worlds/tilted4.world b/worlds/tilted4.world
new file mode 100644
index 0000000000..900a9ae62c
--- /dev/null
+++ b/worlds/tilted4.world
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <scene>
+        <origin_visual>0</origin_visual>
+        <grid>0</grid>
+    </scene>
+    <physics type="ode">
+      <max_step_size>0.003</max_step_size>
+
+      <!-- Run as fast as possible -->
+      <real_time_update_rate>0</real_time_update_rate>
+      <ode>
+        <constraints>
+          <!-- Simulator.cpp -->
+          <erp>0.1</erp>
+          <cfm>10e-6</cfm>
+
+          <!-- Making this smaller seems to decrease rather than increase stability. -->
+          <contact_max_correcting_vel>100</contact_max_correcting_vel>
+          <contact_surface_layer>1e-8</contact_surface_layer>
+        </constraints>
+        <solver>
+          <type>quick</type>
+        </solver>
+      </ode>
+
+    </physics>
+
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <include>
+      <uri>model://tilted4</uri>
+    </include>
+
+    <plugin name="revolve-world" filename="libWorldControlPlugin.so" />
+  </world>
+</sdf>