diff --git a/carla_sim/parameters/spawn.yaml b/carla_sim/parameters/spawn.yaml
index e83aa6a..a0ce13c 100644
--- a/carla_sim/parameters/spawn.yaml
+++ b/carla_sim/parameters/spawn.yaml
@@ -1,6 +1,7 @@
 ev:
   start: [30.874001, 7.542412, 0.3]
   end: [205.874001, 8.542412, 0.3]
+  rotation: [0.0, 0.0, 0.0]
 
 npc1:
   start: [40.874001, 3.542412, 0.3]
@@ -8,6 +9,7 @@ npc1:
   brake_chance: 0.3
   brake_range: [0.0, 0.5]
   steer_range: [0.0, 0.02]
+  rotation: [0.0, 0.0, 0.0]
 
 npc2:
   start: [70.874001, 7.542412, 0.3]
@@ -15,6 +17,7 @@ npc2:
   brake_chance: 0.3
   brake_range: [0.0, 0.4]
   steer_range: [0.0, 0.02]
+  rotation: [0.0, 0.0, 0.0]
 
 pedestrian1:
   start: [65.874001, 3.542412, 0.3]
diff --git a/carla_sim/simulation.py b/carla_sim/simulation.py
index c73b803..a3c6061 100644
--- a/carla_sim/simulation.py
+++ b/carla_sim/simulation.py
@@ -45,24 +45,24 @@ def run_simulation(spawn_config, weather_params,
 
     blueprint_library = world.get_blueprint_library()
     vehicle_bp = blueprint_library.filter('vehicle.tesla.model3')[0]
-    ev_tf   = tools.list_to_transform(spawn_config['ev']['start'])
-    ev_end  = tools.list_to_transform(spawn_config['ev']['end']).location
+    ev_tf   = tools.lists_to_transform(spawn_config['ev']['start'], spawn_config['ev']['rotation'])
+    ev_end  = tools.lists_to_transform(spawn_config['ev']['end']).location
 
     vehicle = world.spawn_actor(vehicle_bp, ev_tf)
     agent = BehaviorAgent(vehicle, behavior='normal')
     agent.set_destination(ev_end)
 
 
-    npc1 = tools.spawn_npc(world, blueprint_library, tools.list_to_transform(spawn_config['npc1']['start']))
-    npc2 = tools.spawn_npc(world, blueprint_library, tools.list_to_transform(spawn_config['npc2']['start']))
+    npc1 = tools.spawn_npc(world, blueprint_library, tools.lists_to_transform(spawn_config['npc1']['start'], spawn_config['npc1']['rotation']))
+    npc2 = tools.spawn_npc(world, blueprint_library, tools.lists_to_transform(spawn_config['npc2']['start'], spawn_config['npc2']['rotation']))
 
     walker1_bp = blueprint_library.find('walker.pedestrian.0001')
     walker2_bp = blueprint_library.find('walker.pedestrian.0002')
 
-    ped1_start = tools.list_to_transform(spawn_config['pedestrian1']['start'])
+    ped1_start = tools.lists_to_transform(spawn_config['pedestrian1']['start'])
     ped1_end = tools.list_to_location(spawn_config['pedestrian1']['end'])
 
-    ped2_start = tools.list_to_transform(spawn_config['pedestrian2']['start'])
+    ped2_start = tools.lists_to_transform(spawn_config['pedestrian2']['start'])
     ped2_end = tools.list_to_location(spawn_config['pedestrian2']['end'])
 
     walker1 = world.spawn_actor(walker1_bp, ped1_start)
diff --git a/carla_sim/tools.py b/carla_sim/tools.py
index c6ae159..7fe5700 100644
--- a/carla_sim/tools.py
+++ b/carla_sim/tools.py
@@ -37,9 +37,10 @@ def load_weather_yaml(path):
         return yaml.safe_load(f)
 def list_to_location(lst):
     return carla.Location(x=lst[0], y=lst[1], z=lst[2])
-
-def list_to_transform(lst):
-    return carla.Transform(list_to_location(lst), carla.Rotation())
+def list_to_rotation(lst):
+    return carla.Rotation(x=lst[0], y=lst[1], z=lst[2])
+def lists_to_transform(lst, lst2=[0,0,0]):
+    return carla.Transform(list_to_location(lst), list_to_rotation(lst2))
 
 def load_ga_config(path):
     if not os.path.exists(path):