diff --git a/safety_gymnasium/assets/xmls/car.xml b/safety_gymnasium/assets/xmls/car.xml
index b3001d6d..13f3d4fc 100644
--- a/safety_gymnasium/assets/xmls/car.xml
+++ b/safety_gymnasium/assets/xmls/car.xml
@@ -29,6 +29,7 @@ Copyright 2022-2023 OmniSafe Team. All Rights Reserved.
     <body name="agent" pos="0 0 .1">
       <site name="agent" pos="0 0 0"/>
       <camera name="vision" pos="0 0 .2" xyaxes="-1 0 0 0 -.4 1" fovy="90"/>
+      <camera name="vision_back" pos="0 0 .2" xyaxes="1 0 0 0 0 1" fovy="90"/>
       <joint type="free" name="agent" damping="0"/>
       <geom name="agent" type="box" size=".1 .1 .05" rgba="0.7412 0.0431 0.1843 1"/>
       <geom name="back_bumper" type="box" pos="0 .15 0" size=".1 .01 .05" rgba="0.0039 0.1529 0.3961 1"/>
diff --git a/safety_gymnasium/assets/xmls/point.xml b/safety_gymnasium/assets/xmls/point.xml
index 087e868b..c4bba638 100644
--- a/safety_gymnasium/assets/xmls/point.xml
+++ b/safety_gymnasium/assets/xmls/point.xml
@@ -29,6 +29,7 @@ Copyright 2022-2023 OmniSafe Team. All Rights Reserved.
     <geom name="floor" size="5 5 0.1" type="plane" condim="6"/>
     <body name="agent" pos="0 0 .1">
       <camera name="vision" pos="0 0 .15" xyaxes="0 -1 0 .4 0 1" fovy="90"/>
+      <camera name="vision_back" pos="0 0 .15" xyaxes="0 1 0 0 0 1" fovy="90"/>
       <!-- <geom name="camera" pos="-.2 0 0" type="sphere" size=".05"/> -->
       <joint type="slide" axis="1 0 0" name="x" damping="0.01"/>
       <joint type="slide" axis="0 1 0" name="y" damping="0.01"/>
diff --git a/safety_gymnasium/assets/xmls/racecar.xml b/safety_gymnasium/assets/xmls/racecar.xml
index b5e943fa..d9d9ba67 100644
--- a/safety_gymnasium/assets/xmls/racecar.xml
+++ b/safety_gymnasium/assets/xmls/racecar.xml
@@ -43,6 +43,7 @@ Copyright 2022-2023 OmniSafe Team. All Rights Reserved.
     <body name="agent" pos="0 0 0.05">
         <joint type="free" name="agent" damping="0"/>
         <camera name="vision" pos="0.10 0 0.1" euler="1.57 -1.57 0" fovy="90"/>
+        <camera name="vision_back" pos="0.10 0 0.1" euler="1.57 1.57 0" fovy="90"/>
         <site name="agent" pos="0.02 0 0"/>
         <body name="pos_change" pos="-0.16 0 0">
             <body name="car_body">
