diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index ca24220..e9f27d2 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -1,5 +1,6 @@
 use std::cmp::min;
 use std::collections::HashMap;
+use std::f32::consts::TAU;
 use std::ptr;
 
 use macroquad::prelude::*;
@@ -25,7 +26,8 @@ struct Robot {
 
 impl Robot {
     fn new(position: Vec2, team: Color) -> Self {
-        let pose:Pose = Pose::from_translation(position.to_array().into());
+        let rand_angle = rand::gen_range(0, 1000) as f32 * TAU / 1000.0;
+        let pose:Pose = Pose::from_parts(position.to_array().into(), Rot2::from_angle(rand_angle));
         Self { pose, alive: true, collider: Ball::new(BOT_RADIUS), sensor: Sensor::None, team}
     }
 
@@ -111,29 +113,31 @@ impl Food {
 #[macroquad::main("Adversarial Foraging Simulator")]
 async fn main() {
 
+    rand::srand(4);
+
     let mut robots = Vec::new();
 
     let mut score = HashMap::new();
 
     for i in 5..20 {
-        robots.push(Robot::new(Vec2 { x: 150.0, y: i as f32*50.0 }, RED));
-        robots.push(Robot::new(Vec2 { x: 1150.0, y: i as f32*50.0 }, BLUE));
+        robots.push(Robot::new(Vec2 { x: 100.0, y: i as f32*50.0 }, RED));
+        robots.push(Robot::new(Vec2 { x: 1200.0, y: i as f32*50.0 }, BLUE));
     }
 
     let mut food = Vec::new();
-    food.push(Food::new(Vec2 { x: 160.0, y: 100.0 }));
-    food.push(Food::new(Vec2 { x: 360.0, y: 100.0 }));
-    food.push(Food::new(Vec2 { x: 360.0, y: 300.0 }));
-    food.push(Food::new(Vec2 { x: 360.0, y: 400.0 }));
-    food.push(Food::new(Vec2 { x: 460.0, y: 400.0 }));
-    food.push(Food::new(Vec2 { x: 260.0, y: 400.0 }));
 
-    for j in 5..50 {
-        for i in 5..20 {
-            food.push(Food::new(Vec2 { x: i as f32*60.0, y: j as f32*50.0 }));
-        }
+    for i in 0..120 {
+        let x = rand::gen_range(200, 1100) as f32;
+        let y = rand::gen_range(200, 900) as f32;
+        food.push(Food::new(Vec2 { x, y }));
     }
 
+    //for j in 5..20 {
+    //    for i in 5..20 {
+    //        food.push(Food::new(Vec2 { x: i as f32*60.0, y: j as f32*50.0 }));
+    //    }
+    //}
+
     fn color_hash(color: Color) -> [u32; 4] {
         color.to_vec().to_array().map(|f| f.to_bits())
     }
@@ -141,17 +145,17 @@ async fn main() {
 
     let mut loo = 0;
     loop {
+        let rendered = loo %30 == 0;
         clear_background(LIGHTGRAY);
 
         for food in &mut food{
             if let Some(team) = food.detect(robots.iter()) {
                 if food.alive {
                     score.entry(color_hash(team)).and_modify(|s| *s +=1 ).or_insert(1);
-                    println!("robot detected in contact");
                     food.alive = false;
                 }
             }
-            food.draw();
+            if rendered { food.draw(); }
             // TODO: die upon collision with robot
         }
 
@@ -159,7 +163,6 @@ async fn main() {
 
         let mut sensors = Vec::new();
         for robot in &*robots {
-            println!("loop");
             let detect_food = robot.detect(food.iter().map(Food::collider));
             let detect_kin = robot.detect(robots.iter().filter(|o| o.team == robot.team).filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
             let detect_non_kin = robot.detect(robots.iter().filter(|o| o.team != robot.team).filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
@@ -179,19 +182,18 @@ async fn main() {
 
             }
 
-            println!("Food detection: {:?}",detect_food);
-            println!("Kin detection: {:?}",detect_kin);
-            println!("NonKin detection: {:?}",detect_non_kin);
             sensors.push(sensor);
         }
         for (idx, robot) in robots.iter_mut().enumerate() {
             robot.policy(&sensors[idx]);
-            robot.draw();
+            if rendered { robot.draw();}
+        }
+        if rendered {
+            draw_text(format!("RED: {}", score.get(&color_hash(RED)).unwrap_or(&0)), 20.0, 20.0, 30.0, DARKGRAY);
+            draw_text(format!("BLUE: {}", score.get(&color_hash(BLUE)).unwrap_or(&0)), 20.0, 40.0, 30.0, DARKGRAY);
         }
-        draw_text(format!("RED: {}", score.get(&color_hash(RED)).unwrap_or(&0)), 20.0, 20.0, 30.0, DARKGRAY);
-        draw_text(format!("BLUE: {}", score.get(&color_hash(BLUE)).unwrap_or(&0)), 20.0, 90.0, 30.0, DARKGRAY);
         loo += 1;
-        if loo %2 == 0 {
+        if rendered {
             next_frame().await // TODO: framerate cap
         }
     }