diff --git a/vrx_gz/launch/competition.launch.py b/vrx_gz/launch/competition.launch.py
index 7c62dfb09..aaf3eb36a 100644
--- a/vrx_gz/launch/competition.launch.py
+++ b/vrx_gz/launch/competition.launch.py
@@ -32,6 +32,8 @@ def launch(context, *args, **kwargs):
     robot = LaunchConfiguration('robot').perform(context)
     headless = LaunchConfiguration('headless').perform(context).lower() == 'true'
     robot_urdf = LaunchConfiguration('urdf').perform(context)
+    gz_paused = LaunchConfiguration('paused').perform(context).lower() == 'true'
+    extra_gz_args = LaunchConfiguration('extra_gz_args').perform(context)
 
     launch_processes = []
 
@@ -46,7 +48,8 @@ def launch(context, *args, **kwargs):
       models.append(m)
 
     world_name, ext = os.path.splitext(world_name)
-    launch_processes.extend(vrx_gz.launch.simulation(world_name, headless))
+    launch_processes.extend(vrx_gz.launch.simulation(world_name, headless, 
+                                                     gz_paused, extra_gz_args))
     world_name_base = os.path.basename(world_name)
     launch_processes.extend(vrx_gz.launch.spawn(sim_mode, world_name_base, models, robot))
 
@@ -91,5 +94,13 @@ def generate_launch_description():
             'urdf',
             default_value='',
             description='URDF file of the wam-v model. '),
+        DeclareLaunchArgument(
+            'paused',
+            default_value='False',
+            description='True to start the simulation paused. '),
+        DeclareLaunchArgument(
+            'extra_gz_args',
+            default_value='',
+            description='Additional arguments to be passed to gz sim. '),
         OpaqueFunction(function=launch),
     ])
diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py
index 26b428a37..cc2a99cc9 100644
--- a/vrx_gz/src/vrx_gz/launch.py
+++ b/vrx_gz/src/vrx_gz/launch.py
@@ -104,10 +104,16 @@
   'follow_path2'
 ]
 
-def simulation(world_name, headless=False):
-    gz_args = ['-v 4', '-r']
+def simulation(world_name, headless=False, paused=False, extra_gz_args=''):
+    gz_args = ['-v 4']
+    if not paused:
+        gz_args.append('-r')
+
     if headless:
         gz_args.append('-s')
+
+    gz_args.append(extra_gz_args)
+
     gz_args.append(f'{world_name}.sdf')
 
     gz_sim = IncludeLaunchDescription(