diff --git a/launch/sim_node_launch.py b/launch/sim_node_launch.py
index 123e2e2..ed4a2dc 100644
--- a/launch/sim_node_launch.py
+++ b/launch/sim_node_launch.py
@@ -78,6 +78,14 @@ def generate_launch_description():
             "use_sim_time",
             default_value="false",
         ),
+        DeclareLaunchArgument(
+            "primary_robot_color",
+            default_value="[0.0, 0.0, 1.0, 1.0]",
+        ),
+        DeclareLaunchArgument(
+            "secondary_robot_color",
+            default_value="[0.0, 0.0, 1.0, 1.0]",
+        )
     ]
 
     node = Node(
@@ -103,6 +111,8 @@ def generate_launch_description():
                     "lidar_pointcloud_resolution"
                 ),
                 "use_sim_time": LaunchConfiguration("use_sim_time"),
+                "primary_robot_color": LaunchConfiguration("primary_robot_color"),
+                "secondary_robot_color": LaunchConfiguration("secondary_robot_color"),
             }
         ],
         output="screen",
diff --git a/sim_node/infantry_robot.py b/sim_node/infantry_robot.py
index 7acaebc..639172f 100644
--- a/sim_node/infantry_robot.py
+++ b/sim_node/infantry_robot.py
@@ -37,10 +37,10 @@ def __init__(
         build_separate: bool = False,
         options: dict = [],
     ):
+        self.options = options
         super().__init__(
             scene, control_freq, control_mode, agent_idx, initial_pose, build_separate
         )
-        self.options = options
 
     default_pos = sapien.Pose(p=[0, 0, 0.25], q=[1, 0, 0, 0])
     default_pos.set_rpy([np.deg2rad(90), 0, np.deg2rad(45)])
@@ -80,8 +80,10 @@ def _after_loading_articulation(self):
         visual_block = lightbar_link.render_shapes[0]
         for shape in visual_block:
             for part in shape.parts:
-                part.material.set_base_color([0, 0, 1, 1])
-                part.material.set_emission([0, 0, 100, 100])
+                if "color" in self.options:
+                    color = self.options["color"]
+                    part.material.set_base_color(color) # Set rgba list of float
+                    part.material.set_emission([x * 100 for x in color]) # Multiply by scalar
                 part.material.set_emission_texture(None)
                 part.material.set_metallic_texture(None)
                 part.material.set_roughness_texture(None)
diff --git a/sim_node/ros_bridge.py b/sim_node/ros_bridge.py
index 14d2c27..d48fbbc 100644
--- a/sim_node/ros_bridge.py
+++ b/sim_node/ros_bridge.py
@@ -47,6 +47,9 @@ def __init__(self):
         self.declare_parameter("sim_time_scale", 1.0)
         self.declare_parameter("cpu_sim", False)
 
+        self.declare_parameter("primary_robot_color", [0.0, 0.0, 1.0, 1.0])
+        self.declare_parameter("secondary_robot_color", [0.0, 0.0, 1.0, 1.0])
+
         self.primary_robot_teleop_sub = self.create_subscription(
             SimTeleopInput,
             "simulation/primary_robot_teleop",
@@ -134,9 +137,10 @@ def __init__(self):
                 )
                 .get_parameter_value()
                 .integer_value,
+                color=self.get_parameter("primary_robot_color").get_parameter_value().double_array_value,
             ),
             # second robot is just used as target practice so we dont care about its sensors
-            secondary_robot=dict(enable_cv_cam=False, enable_lidar=False),
+            secondary_robot=dict(enable_cv_cam=False, enable_lidar=False, color=self.get_parameter("secondary_robot_color").get_parameter_value().double_array_value),
         )
 
         self.simulation = simulation.Simulation(options=options)