diff --git a/Project/Prefabs/Features/HumanNavigation.prefab b/Project/Prefabs/Features/HumanNavigation.prefab
index 69030aef..ae095904 100755
--- a/Project/Prefabs/Features/HumanNavigation.prefab
+++ b/Project/Prefabs/Features/HumanNavigation.prefab
@@ -1226,9 +1226,9 @@
                 {
                     "op": "replace",
                     "path": "/ContainerEntity/Components/TransformComponent/Transform Data/Translate/1",
-                    "value": 10.576000213623047
+                    "value": 10.576000213623049
                 }
             ]
         }
     }
-}
+}
\ No newline at end of file
diff --git a/Project/Registry/physxsystemconfiguration.setreg b/Project/Registry/physxsystemconfiguration.setreg
index dd5e53aa..193306f7 100644
--- a/Project/Registry/physxsystemconfiguration.setreg
+++ b/Project/Registry/physxsystemconfiguration.setreg
@@ -10,8 +10,8 @@
                                 "Default",
                                 "Navigation",
                                 "Lidar",
-                                {},
-                                {},
+                                "NPCs",
+                                "Ground",
                                 {},
                                 {},
                                 {},
@@ -106,6 +106,15 @@
                                     "Group": {
                                         "Mask": 18446744073709551613
                                     }
+                                },
+                                {
+                                    "Id": {
+                                        "GroupId": "{72AB7AF0-F57A-4DA8-8498-3DBCF3789BAE}"
+                                    },
+                                    "Name": "NPCGroup",
+                                    "Group": {
+                                        "Mask": 18446744073709551608
+                                    }
                                 }
                             ]
                         }
@@ -114,4 +123,4 @@
             }
         }
     }
-}
+}
\ No newline at end of file
diff --git a/Project/Registry/sim_config.setreg b/Project/Registry/sim_config.setreg
new file mode 100644
index 00000000..103730ab
--- /dev/null
+++ b/Project/Registry/sim_config.setreg
@@ -0,0 +1,18 @@
+{
+
+    "O3DE":
+    {
+        "InputSystem":
+        {
+            "Mouse":
+            {
+                "CaptureMouseCursor": false
+            }
+        },
+        "ROS2":
+        {
+            "SteadyClock" : true
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/ros2_ws/src/Universal_Robots_ROS2_Driver b/ros2_ws/src/Universal_Robots_ROS2_Driver
index 698914b8..72087b1a 160000
--- a/ros2_ws/src/Universal_Robots_ROS2_Driver
+++ b/ros2_ws/src/Universal_Robots_ROS2_Driver
@@ -1 +1 @@
-Subproject commit 698914b82ece75b19e0795327f2e013bd447e863
+Subproject commit 72087b1a5822b10a9d642f32fe0069083553f3c1