diff --git a/AUTHORS b/AUTHORS
index 93939d3..e1e9966 100755
--- a/AUTHORS
+++ b/AUTHORS
@@ -1,4 +1,5 @@
 Rafael Pérez Seguí
 Miguel Fernández Cortizas
 Pedro Arias Pérez
-David Pérez Saura
\ No newline at end of file
+David Pérez Saura
+Javier Melero Deza
\ No newline at end of file
diff --git a/launch_as2.bash b/launch_as2.bash
index 201ff8a..cf62a33 100755
--- a/launch_as2.bash
+++ b/launch_as2.bash
@@ -72,28 +72,27 @@ done
 
 for ns in "${drone_ns[@]}"
 do
-  if [[ ${ns} == ${drone_ns[0]} ]]; then
-    base_launch="true"
-  else
-    base_launch="false"
-  fi 
-
-  tmuxinator start -n ${ns} -p utils/session.yml drone_namespace=${ns} gps=${gps} simulation=${simulated} estimator_plugin=${estimator_plugin} &
+  tmuxinator start -n ${ns} -p tmuxinator/session.yml drone_namespace=${ns} gps=${gps} simulation=${simulated} estimator_plugin=${estimator_plugin} &
   wait
 done
 
+if [[ ${estimator_plugin} == "mocap_pose" ]]; then
+  tmuxinator start -n mocap -p tmuxinator/mocap.yml &
+  wait
+fi
+
 if [[ ${record_rosbag} == "true" ]]; then
-  tmuxinator start -n rosbag -p utils/rosbag.yml drone_namespace=$(list_to_string "${drone_ns[@]}") &
+  tmuxinator start -n rosbag -p tmuxinator/rosbag.yml drone_namespace=$(list_to_string "${drone_ns[@]}") &
   wait
 fi
 
 if [[ ${launch_keyboard_teleop} == "true" ]]; then
-  tmuxinator start -n keyboard_teleop -p utils/keyboard_teleop.yml simulation=true drone_namespace=$(list_to_string "${drone_ns[@]}") &
+  tmuxinator start -n keyboard_teleop -p tmuxinator/keyboard_teleop.yml simulation=${simulated} drone_namespace=$(list_to_string "${drone_ns[@]}") &
   wait
 fi
 
 if [[ ${simulated} == "true" ]]; then
-  tmuxinator start -n gazebo -p utils/gazebo.yml simulation_config=${simulation_config} &
+  tmuxinator start -n gazebo -p tmuxinator/gazebo.yml simulation_config=${simulation_config} &
   wait
 fi
 
diff --git a/mission.py b/mission.py
index cd72d45..52a0133 100755
--- a/mission.py
+++ b/mission.py
@@ -28,8 +28,10 @@ def drone_run(drone_interface: DroneInterface, simulation=False):
 
     ##### ARM OFFBOARD #####
     if simulation:
+        print("Arm")
         drone_interface.offboard()
         sleep(sleep_time)
+        print("Offboard")
         drone_interface.arm()
         sleep(sleep_time)
 
diff --git a/real_config/state_estimator_mocap.yaml b/real_config/state_estimator_mocap.yaml
index a20dbd7..51393b2 100644
--- a/real_config/state_estimator_mocap.yaml
+++ b/real_config/state_estimator_mocap.yaml
@@ -1,2 +1,3 @@
 /**:
   ros__parameters:
+    none: false
diff --git a/stop.bash b/stop.bash
index 1ce49c9..3ec781e 100755
--- a/stop.bash
+++ b/stop.bash
@@ -18,8 +18,20 @@ if [[ -n "$TMUX" ]]; then
   current_session=$(tmux display-message -p '#S')
 fi
 
-# Kill gazebo
-pkill -9 -f "gzclient" < /dev/null
+# Send Ctrl+C signal to each window of each session
+for session in "${tmux_session_list[@]}"; do
+  # Check if session exists
+  if tmux has-session -t "$session" 2>/dev/null; then
+    # Get the list of windows in the session
+    windows=($(tmux list-windows -t "$session" -F "#{window_index}"))
+    # Iterate through each window and send Ctrl+C
+    for window in "${windows[@]}"; do
+      # Send Ctrl+C to the window
+      tmux send-keys -t "$session:$window" C-c
+      sleep 0.1 # Add a small delay to allow the signal to be processed
+    done
+  fi
+done
 
 # Kill all tmux sessions from the list except for the current one
 for session in "${tmux_session_list[@]}"; do
diff --git a/utils/gazebo.yml b/tmuxinator/gazebo.yml
similarity index 100%
rename from utils/gazebo.yml
rename to tmuxinator/gazebo.yml
diff --git a/utils/keyboard_teleop.yml b/tmuxinator/keyboard_teleop.yml
similarity index 100%
rename from utils/keyboard_teleop.yml
rename to tmuxinator/keyboard_teleop.yml
diff --git a/utils/mocap.yml b/tmuxinator/mocap.yml
similarity index 100%
rename from utils/mocap.yml
rename to tmuxinator/mocap.yml
diff --git a/utils/rosbag.yml b/tmuxinator/rosbag.yml
similarity index 100%
rename from utils/rosbag.yml
rename to tmuxinator/rosbag.yml
diff --git a/utils/session.yml b/tmuxinator/session.yml
similarity index 100%
rename from utils/session.yml
rename to tmuxinator/session.yml