diff --git a/rox_bringup/launch/bringup_sim_launch.py b/rox_bringup/launch/bringup_sim_launch.py
index ad70e27..6869fef 100644
--- a/rox_bringup/launch/bringup_sim_launch.py
+++ b/rox_bringup/launch/bringup_sim_launch.py
@@ -14,7 +14,6 @@
 from param_file_utils import generate_final_yaml
 import os
 from pathlib import Path
-import xacro
 
 def execution_stage(context: LaunchContext, 
                     rox_type,
@@ -24,7 +23,9 @@ def execution_stage(context: LaunchContext,
                     scanner_type,
                     ur_dc,
                     gripper_type,
-                    headless_sim):
+                    headless_sim,
+                    spawn_x, spawn_y, spawn_z,
+                    spawn_R, spawn_P, spawn_Y):
 
     launch_actions = []
 
@@ -48,7 +49,9 @@ def execution_stage(context: LaunchContext,
         joint_type = "revolute"
 
     # Getting the robot description xacro
-    urdf = os.path.join(get_package_share_directory('rox_description'), 'urdf', 'rox.urdf.xacro')
+    urdf = os.path.join(get_package_share_directory('rox_description'), 
+                    'urdf', 
+                    'rox.urdf.xacro')
 
     spawn_robot = Node(
         package='ros_gz_sim',
@@ -57,7 +60,15 @@ def execution_stage(context: LaunchContext,
         output='screen',
         arguments=[
             '-topic', "robot_description",
-            '-name', "rox"])
+            '-name', "rox",
+            '-x', spawn_x.perform(context),
+            '-y', spawn_y.perform(context),
+            '-z', spawn_z.perform(context),
+            '-R', spawn_R.perform(context),
+            '-P', spawn_P.perform(context),
+            '-Y', spawn_Y.perform(context)
+        ]
+    )
 
     # Define gz_args based on headless_simulation argument
     gz_args = f"-r {default_world_path}"
@@ -239,6 +250,25 @@ def execution_stage(context: LaunchContext,
 
 def generate_launch_description():
 
+    declare_spawn_x_cmd = DeclareLaunchArgument(
+        'spawn_x', default_value='0.0', description='Initial X position of the robot in gz'
+    )
+    declare_spawn_y_cmd = DeclareLaunchArgument(
+        'spawn_y', default_value='0.0', description='Initial Y position of the robot in gz'
+    )
+    declare_spawn_z_cmd = DeclareLaunchArgument(
+        'spawn_z', default_value='0.0', description='Initial Z position of the robot in gz'
+    )
+    declare_spawn_R_cmd = DeclareLaunchArgument(
+        'spawn_R', default_value='0.0', description='Initial roll of the robot in gz'
+    )
+    declare_spawn_P_cmd = DeclareLaunchArgument(
+        'spawn_P', default_value='0.0', description='Initial pitch of the robot in gz'
+    )
+    declare_spawn_Y_cmd = DeclareLaunchArgument(
+        'spawn_Y', default_value='0.0', description='Initial yaw of the robot in gz'
+    )
+
     declare_rox_type_cmd = DeclareLaunchArgument(
             'rox_type',default_value='argo',
             choices = ['', 'argo', 'argo-trio', 'diff', 'trike'],
@@ -293,7 +323,13 @@ def generate_launch_description():
             LaunchConfiguration('scanner_type'),
             LaunchConfiguration('use_ur_dc'),
             LaunchConfiguration('gripper_type'),
-            LaunchConfiguration('headless_simulation')
+            LaunchConfiguration('headless_simulation'),
+            LaunchConfiguration('spawn_x'),
+            LaunchConfiguration('spawn_y'),
+            LaunchConfiguration('spawn_z'),
+            LaunchConfiguration('spawn_R'),
+            LaunchConfiguration('spawn_P'),
+            LaunchConfiguration('spawn_Y'),
             ])
 
     ld = LaunchDescription([
@@ -305,6 +341,12 @@ def generate_launch_description():
         declare_ur_pwr_variant_cmd,
         declare_gripper_type_cmd,
         declare_headless_sim_cmd,
+        declare_spawn_x_cmd,
+        declare_spawn_y_cmd,
+        declare_spawn_z_cmd,
+        declare_spawn_R_cmd,
+        declare_spawn_P_cmd,
+        declare_spawn_Y_cmd,
         opq_function
     ])
     return ld