diff --git a/controllers/example/example.py b/controllers/example/example.py
index 3478586..116fa66 100644
--- a/controllers/example/example.py
+++ b/controllers/example/example.py
@@ -31,21 +31,25 @@ class Intrinsic:
 
 intrinsic = Intrinsic(depth)
          
+# we are going to limit the region we look at to ignore the sky/car etc
+regionTop = int( depth.getHeight()*0.51 )
+regionBase = int( depth.getHeight()*0.68 )     
+         
 prevTime = 0
+
+#fill the whole background with black
+display.setColor( 0x000000 )
+display.fillRectangle( 0, 0, display.getWidth(), display.getHeight() )
    
 while driver.step() != -1:
     # get a range image
     image = depth.getRangeImageArray()
     
-    # clear the display    
-    display.setColor( 0x000000 )
-    display.fillRectangle( 0, 0, display.getWidth(), display.getHeight() )
-    display.setColor( 0xFFFFFF )
-    
-    # we are going to limit the region we look at to ignore the sky/car etc
-    regionTop = 370
-    regionBase = 496
-
+    # highlight the region of the image we are actually checking.
+    display.setColor( 0x333333 )
+    display.fillRectangle( 0, regionTop, display.getWidth(), regionBase-regionTop )
+    display.setColor( 0xFFFFFF );
+   
     cones = [[0,0,0],[0,0,0]]
     
     # calculate intrinsic camera parameters
@@ -60,12 +64,7 @@ while driver.step() != -1:
                 cones[onRight][0] += rx
                 cones[onRight][1] += 1
 
-                # display a top down view of the cones
-                scaleFactor = display.getHeight() / depth.getMaxRange() 
-
-                px = int(rx * scaleFactor)
-                py = int(rz * scaleFactor)
-                display.drawPixel( display.getWidth()//2+px, display.getHeight()-py )
+                display.drawPixel( x, y )
       
     # calc the averages, if no points found then skip the rest of this iteration
     try:         
diff --git a/controllers/examplecpp/examplecpp.cpp b/controllers/examplecpp/examplecpp.cpp
index 7eb6fe8..5d4c767 100644
--- a/controllers/examplecpp/examplecpp.cpp
+++ b/controllers/examplecpp/examplecpp.cpp
@@ -3,6 +3,7 @@
 #include <webots/Display.hpp>
 using namespace webots;
 
+#include <cassert>
 #include <iostream>
 #include <memory>
 #include <math.h>
@@ -47,33 +48,41 @@ int main(int argc, char **argv)
     std::unique_ptr<Display> display = 
         std::unique_ptr<Display>( driver.getDisplay( "display" ) );
     if( !display ) return 2;
-    
+        
+    assert( depth->getWidth() != display->getWidth() );
+    assert( depth->getHeight() != display->getHeight() );
+        
     Intrinsic intrinsic( *depth );
     
     // we are going to limit the region we look at to ignore the sky/car etc
-    const int regionTop = 370;
-    const int regionBase = 496;
-    static_assert( regionTop < regionBase );
+    const int regionTop = depth->getHeight()*0.51f;
+    const int regionBase = depth->getHeight()*0.68f;
+    assert( regionTop < regionBase );
+
+    // fill the whole background with black
+    display->setColor( 0x000000 );
+    display->fillRectangle( 0, 0, display->getWidth(), display->getHeight() );
 
     while( driver.step() != -1 )
-    {
+    {  
         std::array<std::array<float,3>,2> cones;
         cones[0] = {0,0,0};
         cones[1] = {0,0,0};
         
-        display->setColor( 0x000000 );
-        display->fillRectangle( 0, 0, display->getWidth(), display->getHeight() );
+        // highlight the region of the image we are actually checking.
+        display->setColor( 0x333333 );
+        display->fillRectangle( 0, regionTop, display->getWidth(), regionBase-regionTop );
         display->setColor( 0xFFFFFF );
 
         for( int x=0; x<depth->getWidth()-1; ++x )
         {
             for( int y=regionTop; y<regionBase; ++y )
-            {
-                if( depth->getRangeImage() == nullptr ) continue;
+            {                   
+                if( depth->getRangeImage() == nullptr ) continue;         
             
                 float distance1 = RangeFinder::rangeImageGetDepth( depth->getRangeImage(), depth->getWidth(), x, y );
                 float distance2 = RangeFinder::rangeImageGetDepth( depth->getRangeImage(), depth->getWidth(), x, y+1 );
-                    
+
                 if( distance1 - 0.5 > distance2 )
                 {
                     // calculate position of point relative to camera position
@@ -84,12 +93,7 @@ int main(int argc, char **argv)
                     cones[onRight][0] += coords[0];
                     cones[onRight][1] += 1;
     
-                    // display a top down view of the cones
-                    float scaleFactor = display->getHeight() / depth->getMaxRange(); 
-    
-                    int px = coords[0] * scaleFactor;
-                    int py = coords[2] * scaleFactor;
-                    display->drawPixel( display->getWidth()/2+px, display->getHeight()-py );
+                    display->drawPixel( x, y );
                 }
             }
         }
diff --git a/worlds/acceleration.wbt b/worlds/acceleration.wbt
index e89734b..9bd3ff0 100644
--- a/worlds/acceleration.wbt
+++ b/worlds/acceleration.wbt
@@ -1,10 +1,10 @@
-#VRML_SIM R2020b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
   basicTimeStep 20
 }
 Viewpoint {
   orientation 0.44262137847919036 -0.560569682529413 -0.6998913818172463 2.08793100190326
-  position -13.809178090978897 5.015186495864631 5.841322789688
+  position -13.809177301030532 5.015186286136297 5.841322604655467
   follow "fsai"
 }
 TexturedBackgroundLight {
@@ -23,225 +23,301 @@ UnevenTerrain {
   }
 }
 CoventryVehicle {
-  hidden position_0_0 -1.0453889528286364e-10
-  hidden position2_0_0 -2.64961138869972e-06
-  hidden position_0_1 -2.875300013667947e-10
-  hidden position2_0_1 -2.7949849492144224e-06
-  hidden position_0_2 -2.9261607714972762e-06
-  hidden position_0_3 -3.014332948056832e-06
-  hidden rotation_1 -7.049372222026168e-05 -0.9999999975153174 1.0961566977589398e-11 2.9093539385478156e-06
-  hidden rotation_2 0.0001849151436414695 0.9999999829031947 2.87097320444401e-11 3.059785731397028e-06
-  hidden rotation_3 0 -1 0 3.192606387339473e-06
-  hidden rotation_4 0 1 0 3.2858327513549973e-06
-  translation -2.319984943306382 0.8124290163908436 -0.24997953538149234
-  rotation 0.6769628261983345 0.5193156414353673 0.5215674419537097 1.9483450667476003
+  hidden position_0_0 -0.013302092545242061
+  hidden position2_0_0 0.0044434659753988205
+  hidden position_0_1 -0.012620657537828706
+  hidden position2_0_1 0.004443325091095787
+  hidden position_0_2 0.004439966999019153
+  hidden position_0_3 0.004435393467511649
+  hidden linearVelocity_0 0.04885692804632509 -0.013971788859846512 -0.0015240186998590616
+  hidden angularVelocity_0 -0.0033498558039143232 -0.011332711724012113 -0.0011467030842097852
+  hidden rotation_1 -0.9484804198763154 0.316828743185942 -0.0021072737042634707 0.014024612822255691
+  hidden linearVelocity_1 0.04923256762673064 -0.014897333937883832 0.01974104603133921
+  hidden angularVelocity_1 0.051680241871873915 0.20359585791018495 0.6640766470002405
+  hidden rotation_2 0.9432477852948966 -0.3320831583707802 -0.002095581723541714 0.013379980287451087
+  hidden linearVelocity_2 0.047880068338278486 -0.014551098884285739 0.019479770476851656
+  hidden angularVelocity_2 0.051799121086943435 0.2035700216060503 0.6300051414515214
+  hidden rotation_3 0 1 0 0.004439966999038377
+  hidden linearVelocity_3 0.050425199285241286 -0.013410812693876966 0.003692164915742438
+  hidden angularVelocity_3 0.0540509903080361 0.20312020641144227 -0.001013496356018922
+  hidden rotation_4 0 -1 0 0.004435393467491899
+  hidden linearVelocity_4 0.049924910826739756 -0.013280566342392249 0.004534739264320138
+  hidden angularVelocity_4 0.05399302720441392 0.20289930461087524 -0.0010120029982179817
+  translation -2.3189888067586426 0.8121643815362704 -0.2505989670214132
+  rotation 0.6769340372191665 0.5192842676224628 0.5216360404093668 1.948195347975456
   name "fsai"
-  controller "example"
+  controller "examplecpp"
   controllerArgs [
     "--name=fsai"
   ]
   synchronization FALSE
   moreAddons [
     Display {
-      width 200
-      height 200
+      width 1280
+      height 720
     }
   ]
 }
 FsCone {
-  translation 0.0017664885180699093 1.4988479301231983 -0.4782114894236331
-  rotation 0.9999934181015618 -0.0025701243126736856 0.0025609011250656306 1.5688331161382352
+  hidden linearVelocity_0 -5.6780995535580004e-08 2.1819788521388224e-08 -3.3359373535151663e-10
+  hidden angularVelocity_0 -6.93207679296573e-10 -1.803909911597369e-09 -4.654359720532376e-18
+  translation 0.001766483998732836 1.4988479318598884 -0.47821148945018443
+  rotation 0.999993418101951 -0.002570124236813988 0.0025609010492062003 1.5688331161960345
   name "cone0"
   color "blue"
 }
 WorkBarrier {
-  translation 81.33980757792249 -0.0016563278560672496 -0.2828607805309473
-  rotation 0.5783602904407722 0.5749472848100697 0.5787356858971066 2.0972892766751996
+  hidden linearVelocity_0 -6.604877242896364e-08 -7.516426037748394e-07 -4.691339114515358e-09
+  hidden angularVelocity_0 -9.149743120859961e-09 4.513428874288059e-08 -3.992176755038519e-08
+  translation 81.33980757085878 -0.0016563883213878152 -0.28286078090962974
+  rotation 0.5783602918627488 0.5749472852320979 0.5787356840567865 2.097289275403903
   enablePhysics TRUE
 }
 FsCone {
-  translation 4.999598742026073 1.5002491690377482 -0.4523122351632616
-  rotation 0.999993279225401 -0.0025256815180215468 0.002657524580981844 1.5686388375556077
+  hidden linearVelocity_0 -5.6648063431636676e-08 2.233738008446306e-08 -3.3417464351259697e-10
+  hidden angularVelocity_0 -7.392457088555665e-10 -1.9047710610774896e-09 -4.93438421036948e-09
+  translation 4.999598737518513 1.5002491708149395 -0.4523122351898481
+  rotation 0.9999932792257988 -0.002525681643926181 0.002657524311700076 1.5686388376113942
   name "cone1"
   color "blue"
 }
 FsCone {
-  translation 9.997357302288481 1.5000201342863133 -0.42884006212711745
-  rotation 0.9999954879666314 -0.002124330057878375 0.0021239746193904073 1.5708658304929088
+  hidden linearVelocity_0 -4.706091330781827e-08 -7.199147256884152e-10 -1.997134309779843e-10
+  hidden angularVelocity_0 2.287028300598673e-11 -1.4950976618917648e-09 2.4858959921893727e-17
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+  rotation 0.999995487966898 -0.002124329995133017 0.00212397455664505 1.5708658304907228
   name "cone2"
   color "blue"
 }
 FsCone {
-  translation 14.997535714324293 1.499684569748046 -0.4101047394212048
-  rotation 0.9999976415622652 -0.0015252616991122349 0.0015461069356546703 1.576405210086953
+  hidden linearVelocity_0 -3.415112206167251e-08 -5.740801473672372e-08 -3.9579429116858795e-10
+  hidden angularVelocity_0 2.1923969886466043e-09 -6.571163030828082e-10 -2.021493623364833e-08
+  translation 14.997535711602122 1.49968456518269 -0.4101047394526822
+  rotation 0.9999976415624666 -0.001525262445307646 0.0015461060691896464 1.576405209960685
   name "cone3"
   color "blue"
 }
 FsCone {
-  translation 19.998771992807328 1.4993945460601588 -0.39662383915744626
-  rotation 0.9999986149003257 -0.0011813850895874079 0.001172402106825558 1.5801018770352466
+  hidden linearVelocity_0 -2.6193634392759746e-08 -1.0305868572696332e-07 -1.019472822210648e-09
+  hidden angularVelocity_0 3.2742388961236845e-09 -8.321871385432351e-10 2.9417711972635205e-17
+  translation 19.998771990722517 1.4993945378574685 -0.3966238392385881
+  rotation 0.9999986149004071 -0.0011813850549833719 0.0011724020722202906 1.5801018767603225
   name "cone4"
   color "blue"
 }
 FsCone {
-  translation 24.99966747775976 1.498589281257203 -0.38557593143765645
-  rotation 0.9999990548912466 -0.0009688649168854705 0.0009754575266745254 1.5862477950875882
+  hidden linearVelocity_0 -2.1699774929563443e-08 -1.7112273264788375e-07 -2.683056108152313e-09
+  hidden angularVelocity_0 5.437076737240904e-09 -6.894672713868574e-10 -1.3488364743821103e-17
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+  rotation 0.9999990548913019 -0.0009688648883870724 0.0009754574981776214 1.5862477946311393
   name "cone5"
   color "blue"
 }
 FsCone {
-  translation 29.999391486375544 1.4981828482731234 -0.37497220417611166
-  rotation 0.9999985236815466 -0.0011997475484992008 0.0012301384260306753 1.5886483273962697
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   name "cone6"
   color "blue"
 }
 FsCone {
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   name "cone7"
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 }
 FsCone {
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   name "cone8"
   color "blue"
 }
 FsCone {
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   name "cone9"
   color "blue"
 }
 FsCone {
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-  rotation 0.9999959938859481 -0.0019812620381470516 0.0020215867014155638 1.5840928651089217
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   color "blue"
 }
 FsCone {
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 }
 FsCone {
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   color "blue"
 }
 FsCone {
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   color "blue"
 }
 FsCone {
-  translation 70.00023024093669 1.4998445955328528 -0.27865187770044364
-  rotation 0.9999999940263193 -7.749524490046165e-05 7.708338519813274e-05 1.5822576321362798
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   name "cone14"
   color "blue"
 }
 FsCone {
-  translation 75.00005223214374 1.5002473639886647 -0.27669049075011765
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   name "cone15"
   color "blue"
 }
 FsCone {
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+  rotation 0.999994008838199 -0.002508351521730523 0.002385468581043825 1.5717088946652868
   name "cone16"
   color "yellow"
 }
 FsCone {
-  translation 4.998981928337174 -1.5003637237976932 -0.4531088043713677
-  rotation 0.9999946483674031 -0.0023159034391183413 0.002310806745307711 1.572279345574216
+  hidden linearVelocity_0 -5.064081629286504e-08 -1.636817491450468e-08 -2.5521277930490924e-10
+  hidden angularVelocity_0 5.19968053153388e-10 -1.7191828971970132e-09 6.026702328601157e-12
+  translation 4.998981924307945 -1.5003637251004758 -0.45310880439167284
+  rotation 0.9999946483676948 -0.0023159033758643113 0.002310806682540768 1.5722793455302735
   name "cone17"
   color "yellow"
 }
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