diff --git a/tests/test_g_code_logger.py b/tests/test_g_code_logger.py
index 2b13af7..f5a76d5 100644
--- a/tests/test_g_code_logger.py
+++ b/tests/test_g_code_logger.py
@@ -87,10 +87,18 @@ def test_uppdate_g_code(self):
         #     cameraDistance=2.0, cameraYaw=50.0,
         #     cameraPitch=-30,
         #     cameraTargetPosition=np.array([1.9, 0, 1]) + start_pos)
+        p.setPhysicsEngineParameter(numSolverIterations=10000)
+
         p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
-        p.setPhysicsEngineParameter(numSolverIterations=5000)
+        p.setPhysicsEngineParameter(numSolverIterations=10000)
+
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
         p.setGravity(0, 0, -10)
+        p.createCollisionShape(p.GEOM_MESH,
+                               fileName="samurai_monastry.obj",
+                               flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
         # p.loadURDF(urdf_fofa, useFixedBase=True, globalScaling=0.001)
         # Setting up robot position
         test_robot = pi.RobotBase(urdf_robot, start_pos, start_orientation)