diff --git a/humanInterface/driverInterface.py b/humanInterface/driverInterface.py
index 9346fad..1f84f18 100644
--- a/humanInterface/driverInterface.py
+++ b/humanInterface/driverInterface.py
@@ -63,7 +63,7 @@ def update(self):
 
             self.navToSpeaker = self.ctrl.getBButton()
             self.navToPickup = self.ctrl.getXButton()
-            self.createObstacle = self.ctrl.getRightBumper()
+            self.createObstacle = self.ctrl.getYButtonPressed()
 
             self.connectedFault.setNoFault()
 
diff --git a/navigation/repulsorFieldPlanner.py b/navigation/repulsorFieldPlanner.py
index 8a8801d..17581d6 100644
--- a/navigation/repulsorFieldPlanner.py
+++ b/navigation/repulsorFieldPlanner.py
@@ -136,6 +136,8 @@ def getObstacleTransList(self) -> list[Translation2d]:
         retArr = []
         for obstacle in self.fixedObstacles:
             retArr.extend(obstacle.getTelemTrans())
+        for obstacle in self.transientObstcales:
+            retArr.extend(obstacle.getTelemTrans())
 
         return retArr
 
diff --git a/obstacle.png b/obstacle.png
new file mode 100644
index 0000000..f32bec7
Binary files /dev/null and b/obstacle.png differ
diff --git a/simgui-ds.json b/simgui-ds.json
index addd586..c723146 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -21,12 +26,15 @@
         }
       ],
       "axisCount": 6,
-      "buttonCount": 4,
+      "buttonCount": 7,
       "buttonKeys": [
         90,
         88,
         67,
-        86
+        86,
+        66,
+        78,
+        77
       ],
       "povConfig": [
         {
@@ -56,7 +64,7 @@
       "axisCount": 2,
       "buttonCount": 4,
       "buttonKeys": [
-        77,
+        -1,
         44,
         46,
         47
diff --git a/simgui.json b/simgui.json
index 815693f..42f09f4 100644
--- a/simgui.json
+++ b/simgui.json
@@ -63,6 +63,8 @@
             0.02998846210539341,
             255.0
           ],
+          "image": "obstacle.png",
+          "length": 0.6859999895095825,
           "selectable": false,
           "style": "Box/Image",
           "weight": 16.0