diff --git a/.gitignore b/.gitignore
index e7f9785..12e8a10 100644
--- a/.gitignore
+++ b/.gitignore
@@ -169,6 +169,10 @@ deploy/dock_ws/install
 deploy/dock_ws/build
 
 <<<<<<< HEAD
+<<<<<<< HEAD
+=======
+<<<<<<< HEAD
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
 deploy/nav2_ws/install
 deploy/nav2_ws/log
 =======
@@ -177,6 +181,19 @@ deploy/nav2_ws/log
 *log*
 *lib*
 >>>>>>> Added simulation and locomotion files
+<<<<<<< HEAD
+=======
+=======
+*build*
+*install*
+*log*
+*lib*
+=======
+deploy/nav2_ws/install
+deploy/nav2_ws/log
+>>>>>>> origin/main
+>>>>>>> 6fb83c776a12ae8b368f69e6b303593987c6dce1
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
 
 _isaac_sim
 .vscode
diff --git a/locomotion/src/robot_simulation/CMakeLists.txt b/locomotion/src/robot_simulation/CMakeLists.txt
index eed1c87..5dd90fa 100644
--- a/locomotion/src/robot_simulation/CMakeLists.txt
+++ b/locomotion/src/robot_simulation/CMakeLists.txt
@@ -1,3 +1,13 @@
+<<<<<<< HEAD
+=======
+cmake_minimum_required(VERSION 3.5.1)
+project(QuadrupedControl)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
 # INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
 set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
 # Default to GLVND if available.
@@ -9,7 +19,11 @@ set(OpenGL_GL_PREFERENCE GLVND)
 # set(THREADS_PREFER_PTHREAD_FLAG ON)
 
 # find_package(mujoco CONFIG REQUIRED)
+<<<<<<< HEAD
 # find_package(glfw3 REQUIRED)
+=======
+find_package(glfw3 REQUIRED)
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
 find_package(Threads REQUIRED)
 
 include_directories(
@@ -23,15 +37,25 @@ install(DIRECTORY include/
     DESTINATION ${COMMON_INCLUDE_DIR}
     FILES_MATCHING PATTERN "*.h*"
 )
+<<<<<<< HEAD
 
 add_executable(quad_sim src/main.cpp)
 add_dependencies(quad_sim quad_communication)
 target_link_libraries(quad_sim
+=======
+add_executable(simulate src/sim_main.cpp)
+if (DEFINED ENV{USE_ROS_COMM})
+    add_definitions(-DUSE_ROS_COMM)
+endif()
+add_dependencies(simulate quad_communication)
+target_link_libraries(simulate
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
     # mujoco::mujoco
     mujoco
     glfw
     Threads::Threads
     quad_communication
+<<<<<<< HEAD
 )
 install(TARGETS quad_sim
     ARCHIVE DESTINATION ${COMMON_INSTALL_DIR}
@@ -49,6 +73,16 @@ target_link_libraries(sim_ros
     ros_comm
 )
 install(TARGETS sim_ros
+=======
+    # $<$<BOOL:$ENV{USE_ROS_COMM}>:ros_comm>
+)
+if (DEFINED ENV{USE_ROS_COMM})
+    target_link_libraries(simulate
+        ros_comm
+    )
+endif()
+install(TARGETS simulate
+>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
     ARCHIVE DESTINATION ${COMMON_INSTALL_DIR}
     RUNTIME DESTINATION ${COMMON_INSTALL_DIR}
 )
\ No newline at end of file