diff --git a/kos_sim/__init__.py b/kos_sim/__init__.py
index 48a9f97..8785136 100644
--- a/kos_sim/__init__.py
+++ b/kos_sim/__init__.py
@@ -1,13 +1,11 @@
+"""Defines the KOS Simulator package API."""
+
 import logging
 
-# Configure root logger
-logging.basicConfig(
-    level=logging.DEBUG,
-    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
-    handlers=[logging.StreamHandler()],
-)
+import colorlogging
+
+colorlogging.configure()
 
-# Get logger for this package
 logger = logging.getLogger("kos_sim")
 
 __version__ = "0.0.1"
diff --git a/kos_sim/models/gpr/README.md b/kos_sim/models/gpr/README.md
deleted file mode 100644
index 58ff4a7..0000000
--- a/kos_sim/models/gpr/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# URDF/XML development:
-1. kol run https://cad.onshape.com/documents/bc3a557e2f92bdcea4099f0d/w/09713ac603d461fc1dff6b5d/e/5a4acdbffe6f8ed7c4e34970 --config-path config_example.json # noqa: E501
-2. python sim/scripts/create_fixed_torso.py
-3. Rotate first link
-  <joint name="floating_base" type="fixed">
-    <origin rpy="-1.57 3.14 0" xyz="0 0 0"/>
-    <parent link="base"/>
-    <child link="body1-part"/>
-  </joint>
-
-4. Fix left leg axes to align with expected directions
-5. urf2mjcf robot.urdf -o robot.xml
- 
\ No newline at end of file
diff --git a/kos_sim/models/gpr/__init__.py b/kos_sim/models/gpr/__init__.py
deleted file mode 100755
index e69de29..0000000
diff --git a/kos_sim/models/gpr/meshes/arm1_top.stl b/kos_sim/models/gpr/meshes/arm1_top.stl
deleted file mode 100644
index d393723..0000000
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diff --git a/kos_sim/models/gpr/meshes/arm1_top_2.stl b/kos_sim/models/gpr/meshes/arm1_top_2.stl
deleted file mode 100644
index 20808d7..0000000
Binary files a/kos_sim/models/gpr/meshes/arm1_top_2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/arm2_shell.stl b/kos_sim/models/gpr/meshes/arm2_shell.stl
deleted file mode 100644
index d095688..0000000
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diff --git a/kos_sim/models/gpr/meshes/arm2_shell_2.stl b/kos_sim/models/gpr/meshes/arm2_shell_2.stl
deleted file mode 100644
index 9830275..0000000
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diff --git a/kos_sim/models/gpr/meshes/arm3_shell.stl b/kos_sim/models/gpr/meshes/arm3_shell.stl
deleted file mode 100644
index dd787c5..0000000
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diff --git a/kos_sim/models/gpr/meshes/arm3_shell2.stl b/kos_sim/models/gpr/meshes/arm3_shell2.stl
deleted file mode 100644
index 9690a4e..0000000
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diff --git a/kos_sim/models/gpr/meshes/body1-part.stl b/kos_sim/models/gpr/meshes/body1-part.stl
deleted file mode 100644
index 83dc091..0000000
Binary files a/kos_sim/models/gpr/meshes/body1-part.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/foot1.stl b/kos_sim/models/gpr/meshes/foot1.stl
deleted file mode 100644
index 9387485..0000000
Binary files a/kos_sim/models/gpr/meshes/foot1.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/foot3.stl b/kos_sim/models/gpr/meshes/foot3.stl
deleted file mode 100644
index 841369d..0000000
Binary files a/kos_sim/models/gpr/meshes/foot3.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/hand_shell.stl b/kos_sim/models/gpr/meshes/hand_shell.stl
deleted file mode 100644
index 4aff47d..0000000
Binary files a/kos_sim/models/gpr/meshes/hand_shell.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/hand_shell_2.stl b/kos_sim/models/gpr/meshes/hand_shell_2.stl
deleted file mode 100644
index 4aff47d..0000000
Binary files a/kos_sim/models/gpr/meshes/hand_shell_2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg0_shell.stl b/kos_sim/models/gpr/meshes/leg0_shell.stl
deleted file mode 100644
index c2a3806..0000000
Binary files a/kos_sim/models/gpr/meshes/leg0_shell.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg0_shell_2.stl b/kos_sim/models/gpr/meshes/leg0_shell_2.stl
deleted file mode 100644
index c2a3806..0000000
Binary files a/kos_sim/models/gpr/meshes/leg0_shell_2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg1_shell.stl b/kos_sim/models/gpr/meshes/leg1_shell.stl
deleted file mode 100644
index b3b2947..0000000
Binary files a/kos_sim/models/gpr/meshes/leg1_shell.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg1_shell3.stl b/kos_sim/models/gpr/meshes/leg1_shell3.stl
deleted file mode 100644
index 249d815..0000000
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diff --git a/kos_sim/models/gpr/meshes/leg2_shell.stl b/kos_sim/models/gpr/meshes/leg2_shell.stl
deleted file mode 100644
index a9e9d2c..0000000
Binary files a/kos_sim/models/gpr/meshes/leg2_shell.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg2_shell_2.stl b/kos_sim/models/gpr/meshes/leg2_shell_2.stl
deleted file mode 100644
index a9e9d2c..0000000
Binary files a/kos_sim/models/gpr/meshes/leg2_shell_2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg3_shell2.stl b/kos_sim/models/gpr/meshes/leg3_shell2.stl
deleted file mode 100644
index 6c8c68a..0000000
Binary files a/kos_sim/models/gpr/meshes/leg3_shell2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/leg3_shell22.stl b/kos_sim/models/gpr/meshes/leg3_shell22.stl
deleted file mode 100644
index 952779e..0000000
Binary files a/kos_sim/models/gpr/meshes/leg3_shell22.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/robot_fixed.urdf b/kos_sim/models/gpr/meshes/robot_fixed.urdf
deleted file mode 100644
index cd0137a..0000000
--- a/kos_sim/models/gpr/meshes/robot_fixed.urdf
+++ /dev/null
@@ -1,638 +0,0 @@
-<robot name="gpr">
-  <link name="base">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.001" />
-      <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001" />
-    </inertial>
-  </link>
-  <joint name="floating_base" type="fixed">
-    <origin rpy="-1.57 3.14 0" xyz="0 0 0" />
-    <parent link="base" />
-    <child link="body1-part" />
-  </joint>
-  <link name="imu_link">
-      <visual>
-      <geometry>
-        <box size="0.3 0.01 0.01"/>
-      </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
-      </material>
-    </visual>
-  </link>
-  <joint
-    name="imu_joint"
-    type="fixed"
-    dont_collapse="true">
-    <origin
-      xyz="0.03 0.0 -0.08"
-      rpy="0 0 0" />
-    <parent
-      link="base" />
-    <child
-      link="imu_link" />
-  </joint>
-  <link name="body1-part">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/body1-part.stl" />
-      </geometry>
-      <material name="body1-part_material">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/body1-part.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="11.417627727" />
-      <inertia ixx="0.5999083516993914" iyy="0.11036796524213266" izz="0.5097317878090031" ixy="0.008267685111984327" ixz="2.58276642628875e-06" iyz="-0.000248036431915222" />
-      <origin xyz="-0.0030205706440076326 -0.1594728810161352 -0.00012751185828536318" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_shoulder_y" type="fixed">
-    <origin xyz="-1.0603759e-05 0.018089562050771318 0.18749980999999996" rpy="3.1415926071795868 -2.220446049250313e-15 3.1415926071795868" />
-    <parent link="body1-part" />
-    <child link="shoulder" />
-    <limit effort="80" velocity="5" lower="0" upper="3.1415927" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="shoulder">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder.stl" />
-      </geometry>
-      <material name="shoulder_material">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.10769407" />
-      <inertia ixx="0.0014821199757753395" iyy="0.001040851235294" izz="0.0009860091656447962" ixy="1.624746856405567e-08" ixz="-3.127980791901951e-06" iyz="6.45482418632759e-09" />
-      <origin xyz="-0.002143291631555541 5.49830379711586e-05 -0.06646243607358847" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_shoulder_y" type="fixed">
-    <origin xyz="-1.0603759e-05 0.018089564 -0.18750019" rpy="0.0 0.0 -3.1415926071795863" />
-    <parent link="body1-part" />
-    <child link="shoulder_2" />
-    <limit effort="80" velocity="5" lower="-3.1415927" upper="0" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="shoulder_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_2.stl" />
-      </geometry>
-      <material name="shoulder_material_2">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.10769287" />
-      <inertia ixx="0.0014821176689157926" iyy="0.0010408501146374899" izz="0.0009860087317400208" ixy="-1.619311060167335e-08" ixz="-3.127966468857877e-06" iyz="-6.433007602964532e-09" />
-      <origin xyz="-0.0021432871527224747 -5.498738075250827e-05 -0.0664624713194008" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_shoulder_x" type="fixed">
-    <origin xyz="0.022511964 5.627838501275855e-05 -0.06749999993301277" rpy="1.5707963 0.0 1.5707963" />
-    <parent link="shoulder" />
-    <child link="arm1_top" />
-    <limit effort="80" velocity="5" lower="-0.47996554" upper="3.6302848" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="arm1_top">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm1_top.stl" />
-      </geometry>
-      <material name="arm1_top_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm1_top.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.6485195170000001" />
-      <inertia ixx="0.0005534340544495192" iyy="0.0012949315041653874" izz="0.0012122867763442189" ixy="2.7431748015214958e-09" ixz="-0.00029349734411603833" iyz="-1.2020658865463657e-08" />
-      <origin xyz="-0.1049167323389295 -2.224482447295856e-06 -0.02270232245867197" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_shoulder_x" type="fixed">
-    <origin xyz="0.022511964 -5.627838501275855e-05 -0.06749999993301277" rpy="1.5707963999999996 -2.220446049250313e-16 -1.5707963000000003" />
-    <parent link="shoulder_2" />
-    <child link="arm1_top_2" />
-    <limit effort="80" velocity="5" lower="-0.47996554" upper="3.6302848" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="arm1_top_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm1_top_2.stl" />
-      </geometry>
-      <material name="arm1_top_2_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm1_top_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.648518913" />
-      <inertia ixx="0.0005534337229653212" iyy="0.0012949301697574233" izz="0.0012122856241893294" ixy="3.9483970889106803e-10" ixz="0.0002934980412719184" iyz="1.2665017999276955e-08" />
-      <origin xyz="-0.10491675895909988 -2.1578500229648204e-06 0.021702291176927773" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_hip_y" type="revolute">
-    <origin xyz="-1.0608503738424868e-05 -0.43201043179234816 0.08770000686486731" rpy="-3.1415925071795874 4.641020678874952e-08 -3.1415926535897913" />
-    <parent link="body1-part" />
-    <child link="leg0_shell" />
-    <limit effort="100" velocity="15" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg0_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg0_shell.stl" />
-      </geometry>
-      <material name="leg0_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg0_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.3234480570000002" />
-      <inertia ixx="0.0018858182013085161" iyy="0.001424832171389183" izz="0.0012997049050806671" ixy="-4.528695728174104e-12" ixz="7.006193648128378e-06" iyz="-9.656589772176694e-13" />
-      <origin xyz="-0.003746324486178213 -5.30704079226868e-10 -0.06812512159159122" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_hip_y" type="revolute">
-    <origin xyz="-1.0600340183051227e-05 -0.4320104467591277 -0.08819999313513188" rpy="9.99999991702083e-08 4.641020678874952e-08 -3.1415926535897913" />
-    <parent link="body1-part" />
-    <child link="leg0_shell_2" />
-    <limit effort="100" velocity="15" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg0_shell_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg0_shell_2.stl" />
-      </geometry>
-      <material name="leg0_shell_material_2">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg0_shell_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.3234480570000002" />
-      <inertia ixx="0.0018858182013085161" iyy="0.001424832171389183" izz="0.0012997049050806671" ixy="-4.528695728174104e-12" ixz="7.006193648128378e-06" iyz="-9.656589772176694e-13" />
-      <origin xyz="-0.003746324486178213 -5.30704079226868e-10 -0.06762512159159122" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_shoulder_z" type="fixed">
-    <origin xyz="-0.13949999999999996 -1.4619215099879723e-09 -0.02349999915596076" rpy="-4.641020604450649e-08 1.5707962732050293 0.0" />
-    <parent link="arm1_top" />
-    <child link="arm2_shell" />
-    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="arm2_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm2_shell.stl" />
-      </geometry>
-      <material name="arm2_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm2_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.51101595" />
-      <inertia ixx="0.0006782501033956834" iyy="0.0005353980560191654" izz="0.000254883921623482" ixy="0.0" ixz="-6.066717667565765e-06" iyz="0.0" />
-      <origin xyz="-0.0063350323524262436 0.0 -0.09042107492219607" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_shoulder_z" type="fixed">
-    <origin xyz="-0.13949999999999999 0.0 0.022499999155960758" rpy="-3.1415926071795863 1.5707963 0.0" />
-    <parent link="arm1_top_2" />
-    <child link="arm2_shell_2" />
-    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="arm2_shell_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm2_shell_2.stl" />
-      </geometry>
-      <material name="arm2_shell_material_2">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm2_shell_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.51101595" />
-      <inertia ixx="0.0006782500996314132" iyy="0.0005353980522548952" izz="0.000254883921623482" ixy="0.0" ixz="-6.066712483597219e-06" iyz="0.0" />
-      <origin xyz="0.0063350323524262436 0.0 0.08992107443622689" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_hip_x" type="revolute">
-    <origin xyz="0.02649999999999997 -1.5165911463888016e-09 -0.06950000151659115" rpy="-1.5707963 0.0 1.5707963" />
-    <parent link="leg0_shell" />
-    <child link="leg1_shell" />
-    <limit effort="40" velocity="15" lower="-3.1852259" upper="0.34906585" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg1_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg1_shell.stl" />
-      </geometry>
-      <material name="leg1_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg1_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.360769512" />
-      <inertia ixx="0.0016616954886228494" iyy="0.002821853448229639" izz="0.0028458063036535123" ixy="0.0001758148701161061" ixz="0.0003020245997305346" iyz="-9.512452832907178e-06" />
-      <origin xyz="-0.11647102759639934 0.0032311720350168987 0.025411038661602842" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_hip_x" type="revolute">
-    <origin xyz="0.02649999999999997 -1.5165911463888016e-09 -0.06900000151659115" rpy="1.5707963 -4.641020634466031e-08 -1.5707963535897922" />
-    <parent link="leg0_shell_2" />
-    <child link="leg1_shell3" />
-    <limit effort="40" velocity="15" lower="-0.34906585" upper="3.1852259" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg1_shell3">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg1_shell3.stl" />
-      </geometry>
-      <material name="leg1_shell3_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg1_shell3.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.360769362" />
-      <inertia ixx="0.0016616952587461729" iyy="0.0027972595171853708" izz="0.002821212254479024" ixy="-0.0001672703462506645" ixz="0.00030152306354767384" iyz="9.512542262690967e-06" />
-      <origin xyz="-0.11629451715520467 -0.0032311805394316345 0.02541103395361007" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_elbow" type="fixed">
-    <origin xyz="-0.026000000000000002 0.0 -0.09799999977224338" rpy="-3.1415926071795863 -1.5707963 0.0" />
-    <parent link="arm2_shell" />
-    <child link="arm3_shell" />
-    <limit effort="80" velocity="5" lower="-2.5307274" upper="0" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="arm3_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm3_shell.stl" />
-      </geometry>
-      <material name="arm3_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm3_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.57887479" />
-      <inertia ixx="0.00042824885963562435" iyy="0.0013607750713956906" izz="0.001338486101760066" ixy="-4.3783991313169864e-14" ixz="0.0001451523224848915" iyz="4.4680616691403507e-13" />
-      <origin xyz="-0.14008673576280925 -3.715266367753274e-10 0.019422482836149137" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_elbow" type="fixed">
-    <origin xyz="0.026000000000000002 0.0 0.09750000022775662" rpy="-3.1415926071795863 1.5707963 0.0" />
-    <parent link="arm2_shell_2" />
-    <child link="arm3_shell2" />
-    <limit effort="80" velocity="5" lower="0" upper="2.5307274" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="arm3_shell2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm3_shell2.stl" />
-      </geometry>
-      <material name="arm3_shell2_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/arm3_shell2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.57887479" />
-      <inertia ixx="0.00042824885963562435" iyy="0.0013607750713956906" izz="0.001338486101760066" ixy="-4.3783991313169864e-14" ixz="0.0001451523224848915" iyz="4.4680616691403507e-13" />
-      <origin xyz="-0.14008673576280925 -3.715266367753274e-10 0.019422482836149137" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_hip_z" type="revolute">
-    <origin xyz="-0.15649999999999997 0.00011981393 0.027499998483408852" rpy="-0.0 1.5707963 0.0" />
-    <parent link="leg1_shell" />
-    <child link="leg2_shell" />
-    <limit effort="40" velocity="15" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg2_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg2_shell.stl" />
-      </geometry>
-      <material name="leg2_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg2_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.820922667" />
-      <inertia ixx="0.003118121982315594" iyy="0.004225341330146898" izz="0.0020643672406963944" ixy="-6.676045962463134e-09" ixz="-2.2416298133304992e-08" iyz="-3.3507405748121275e-05" />
-      <origin xyz="4.0855477721508534e-07 0.0005316844118462806 -0.13730778343676694" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_hip_z" type="revolute">
-    <origin xyz="-0.15649999999999997 -0.00011981393 0.027499998483408852" rpy="-3.1415926535897922 -1.5707962732050302 0.0" />
-    <parent link="leg1_shell3" />
-    <child link="leg2_shell_2" />
-    <limit effort="40" velocity="15" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg2_shell_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg2_shell_2.stl" />
-      </geometry>
-      <material name="leg2_shell_material_2">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg2_shell_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.820922667" />
-      <inertia ixx="0.003118121982315594" iyy="0.004225341330146898" izz="0.0020643672406963944" ixy="-6.676045962463134e-09" ixz="-2.2416298133304992e-08" iyz="-3.3507405748121275e-05" />
-      <origin xyz="4.0855477721508534e-07 0.0005316844118462806 -0.13730778343676694" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_wrist" type="fixed">
-    <origin xyz="-0.18149999999999997 -1.4619215099879723e-09 0.02150000084403924" rpy="-4.641020604450649e-08 1.5707962732050293 0.0" />
-    <parent link="arm3_shell" />
-    <child link="hand_shell" />
-    <limit effort="80" velocity="5" lower="0" upper="6.2831853" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="hand_shell">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_shell.stl" />
-      </geometry>
-      <material name="hand_shell_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_shell.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.7933517460000001" />
-      <inertia ixx="0.002035289036126633" iyy="0.002871100617981697" izz="0.001279636245454222" ixy="-5.17436396981902e-07" ixz="-2.321711817641572e-05" iyz="3.5513831423904115e-06" />
-      <origin xyz="0.0007087169571505621 0.0001297102192049248 -0.07462970584649938" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_wrist" type="fixed">
-    <origin xyz="-0.18149999999999997 -1.4619215099879723e-09 0.02150000084403924" rpy="-4.641020604450649e-08 1.5707962732050293 0.0" />
-    <parent link="arm3_shell2" />
-    <child link="hand_shell_2" />
-    <limit effort="80" velocity="5" lower="0" upper="6.2831853" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="hand_shell_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_shell_2.stl" />
-      </geometry>
-      <material name="hand_shell_material_2">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_shell_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.7933517460000001" />
-      <inertia ixx="0.002035289036126633" iyy="0.002871100617981697" izz="0.001279636245454222" ixy="-5.17436396981902e-07" ixz="-2.321711817641572e-05" iyz="3.5513831423904115e-06" />
-      <origin xyz="0.0007087169571505621 0.0001297102192049248 -0.07462970584649938" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_knee" type="revolute">
-    <origin xyz="0.0 0.0342 -0.14250000009378214" rpy="1.5707963000000003 0.0 0.0" />
-    <parent link="leg2_shell" />
-    <child link="leg3_shell2" />
-    <limit effort="100" velocity="15" lower="-1.57" upper="0" />
-    <axis xyz="0 0 1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg3_shell2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg3_shell2.stl" />
-      </geometry>
-      <material name="leg3_shell2_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg3_shell2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.179677561" />
-      <inertia ixx="0.0075280219401663686" iyy="0.0011236273981275156" izz="0.007505076656997992" ixy="6.871058258502185e-05" ixz="-1.92682149888721e-05" iyz="0.00022981113471710275" />
-      <origin xyz="0.0010329853873719736 -0.1254795525920513 0.03667110282750395" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_knee" type="revolute">
-    <origin xyz="0.0 0.0342 -0.14250000009378214" rpy="1.5707963000000003 0.0 0.0" />
-    <parent link="leg2_shell_2" />
-    <child link="leg3_shell22" />
-    <limit effort="100" velocity="15" lower="-1.57" upper="0" />
-    <axis xyz="0 0 -1" />
-  <dynamics damping="0.0" friction="0" /></joint>
-  <link name="leg3_shell22">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg3_shell22.stl" />
-      </geometry>
-      <material name="leg3_shell22_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/leg3_shell22.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.179683991" />
-      <inertia ixx="0.007528039668357469" iyy="0.0011236329917092309" izz="0.007505094295682783" ixy="-6.871642858641452e-05" ixz="1.92691896999385e-05" iyz="0.0002298128355131914" />
-      <origin xyz="-0.0010330286803835712 -0.12547979367732118 0.036671195513248635" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="R_ankle" type="revolute">
-    <origin xyz="1.0767167917674625e-08 -0.2999999986541038 0.027200000000000002" rpy="-3.1415926071795868 2.220446049250313e-16 -3.1415926071795868" />
-    <parent link="leg3_shell22" />
-    <child link="foot3" />
-    <limit effort="80" velocity="15" lower="-0.6981317" upper="0.6981317" />
-    <axis xyz="0 0 -1" />
-  <dynamics damping="0.0" friction="0.1" /></joint>
-  <link name="foot3">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot3.stl" />
-      </geometry>
-      <material name="foot3_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot3.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.5457471700000001" />
-      <inertia ixx="0.0002606552397539849" iyy="0.002028939072658483" izz="0.0018716018719932026" ixy="3.69693387246926e-05" ixz="3.095371968865276e-05" iyz="-3.6446932298433373e-06" />
-      <origin xyz="0.02102642215063872 -0.018472025092617035 -0.023695689532891608" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="L_ankle" type="revolute">
-    <origin xyz="0.0 -0.30000000004641003 0.07019999118206069" rpy="9.282041357749903e-08 0.0 0.0" />
-    <parent link="leg3_shell2" />
-    <child link="foot1" />
-    <limit effort="80" velocity="15" lower="-0.6981317" upper="0.6981317" />
-    <axis xyz="0 0 -1" />
-  <dynamics damping="0.0" friction="0.1" /></joint>
-  <link name="foot1">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot1.stl" />
-      </geometry>
-      <material name="foot1_material">
-        <color rgba="0.89803922 0.91764706 0.92941176 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot1.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.54574734" />
-      <inertia ixx="0.0002606552399228641" iyy="0.0020289393205482377" izz="0.0018716021578520196" ixy="3.696944831750264e-05" ixz="-3.095376367976456e-05" iyz="3.6446976195673977e-06" />
-      <origin xyz="0.021026404502789243 -0.018472020400304597 -0.01930430937248649" rpy="0 0 0" />
-    </inertial>
-  </link>
-</robot>
diff --git a/kos_sim/models/gpr/meshes/shoulder.stl b/kos_sim/models/gpr/meshes/shoulder.stl
deleted file mode 100644
index 90bc392..0000000
Binary files a/kos_sim/models/gpr/meshes/shoulder.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/meshes/shoulder_2.stl b/kos_sim/models/gpr/meshes/shoulder_2.stl
deleted file mode 100644
index 59c1316..0000000
Binary files a/kos_sim/models/gpr/meshes/shoulder_2.stl and /dev/null differ
diff --git a/kos_sim/models/gpr/robot_fixed.xml b/kos_sim/models/gpr/robot_fixed.xml
deleted file mode 100644
index d89f95a..0000000
--- a/kos_sim/models/gpr/robot_fixed.xml
+++ /dev/null
@@ -1,194 +0,0 @@
-<mujoco model="gpr">
-  <option iterations="50" timestep="0.001" solver="PGS" gravity="0 0 -9.81" />
-
-  <compiler angle="radian" meshdir="meshes" eulerseq="zyx" autolimits="true" />
-
-  <default>
-    <joint limited="true" damping="0.01" armature="0.01" frictionloss="0.01" />
-    <geom condim="4" contype="1" conaffinity="15" friction="0.9 0.2 0.2" solref="0.001 2" />
-    <motor ctrllimited="true" />
-    <equality solref="0.001 2" />
-    <default class="visualgeom">
-      <geom material="visualgeom" condim="1" contype="0" conaffinity="0" />
-    </default>
-  </default>
-
-  <statistic meansize="0.195391" extent="1.50071" center="0.0129412 -8.78068e-05 -0.429803" />
-
-  <asset>
-    <mesh name="body1-part" file="body1-part.stl" />
-    <mesh name="shoulder" file="shoulder.stl" />
-    <mesh name="shoulder_2" file="shoulder_2.stl" />
-    <mesh name="leg0_shell" file="leg0_shell.stl" />
-    <mesh name="leg0_shell_2" file="leg0_shell_2.stl" />
-    <mesh name="arm1_top" file="arm1_top.stl" />
-    <mesh name="arm1_top_2" file="arm1_top_2.stl" />
-    <mesh name="leg1_shell" file="leg1_shell.stl" />
-    <mesh name="leg1_shell3" file="leg1_shell3.stl" />
-    <mesh name="arm2_shell" file="arm2_shell.stl" />
-    <mesh name="arm2_shell_2" file="arm2_shell_2.stl" />
-    <mesh name="leg2_shell" file="leg2_shell.stl" />
-    <mesh name="leg2_shell_2" file="leg2_shell_2.stl" />
-    <mesh name="arm3_shell" file="arm3_shell.stl" />
-    <mesh name="arm3_shell2" file="arm3_shell2.stl" />
-    <mesh name="leg3_shell2" file="leg3_shell2.stl" />
-    <mesh name="leg3_shell22" file="leg3_shell22.stl" />
-    <mesh name="hand_shell" file="hand_shell.stl" />
-    <mesh name="hand_shell_2" file="hand_shell_2.stl" />
-    <mesh name="foot3" file="foot3.stl" />
-    <mesh name="foot1" file="foot1.stl" />
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".0 .0 .0" rgb2=".8 .8 .8" width="100" height="100" />
-    <material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true" />
-    <material name="visualgeom" rgba="0.5 0.9 0.2 1" />
-  </asset>
-
-  <worldbody>
-    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
-    <light directional="true" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
-    <geom name="ground" type="plane" pos="0 0 0" size="100 100 0.001" quat="1 0 0 0" material="matplane" condim="3" conaffinity="15" />
-    <camera name="fixed" pos="0 -3.0 0.9010549999999999" xyaxes="1 0 0 0 0 1" />
-    <camera name="track" mode="trackcom" pos="0 -3.0 0.9010549999999999" xyaxes="1 0 0 0 0 1" />
-    <body name="root" pos="0 0 0.411055" quat="1 0 0 0">
-      <freejoint name="root"/>
-      <site name="imu" size="0.01" pos="0 0 -0.13"/>
-      <body name="base">
-        <inertial pos="0.00648939 0.00390843 -0.180571" quat="0.999495 -0.0317223 -0.00110485 0.00149824" mass="18.9034" diaginertia="1.33012 0.801658 0.559678" />
-        <geom quat="0.000563312 -0.000562864 0.707388 0.706825" type="mesh" rgba="1 1 1 1" mesh="body1-part" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="1 1 1 1" mesh="body1-part" quat="0.000563312 -0.000562864 0.707388 0.706825" />
-        <geom pos="-1.79688e-05 0.187514 0.0179402" quat="-0.707388 -0.706825 0.000563329 -0.00056288" type="mesh" rgba="1 1 1 1" mesh="shoulder" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="1 1 1 1" mesh="shoulder" pos="-1.79688e-05 0.187514 0.0179402" quat="-0.707388 -0.706825 0.000563329 -0.00056288" />
-        <geom pos="0.022494 0.255014 0.0179786" quat="-0.000281794 -0.706543 -0.000281327 -0.70767" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm1_top" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm1_top" pos="0.022494 0.255014 0.0179786" quat="-0.000281794 -0.706543 -0.000281327 -0.70767" />
-        <geom pos="-0.000783829 0.254903 -0.121559" quat="-0.707107 0.000844648 0.00028156 -0.707106" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm2_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm2_shell" pos="-0.000783829 0.254903 -0.121559" quat="-0.707107 0.000844648 0.00028156 -0.707106" />
-        <geom pos="-0.000627779 0.228825 -0.219538" quat="-0.499402 0.499801 0.500597 0.500199" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm3_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm3_shell" pos="-0.000627779 0.228825 -0.219538" quat="-0.499402 0.499801 0.500597 0.500199" />
-        <geom pos="-0.000338678 0.250181 -0.401055" quat="3.34055e-07 -0.000796327 0.000398163 1" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="hand_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="hand_shell" pos="-0.000338678 0.250181 -0.401055" quat="3.34055e-07 -0.000796327 0.000398163 1" />
-        <geom pos="-1.84444e-05 -0.187486 0.0182389" quat="0.706825 -0.707388 -0.000562847 -0.000563296" type="mesh" rgba="1 1 1 1" mesh="shoulder_2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="1 1 1 1" mesh="shoulder_2" pos="-1.84444e-05 -0.187486 0.0182389" quat="0.706825 -0.707388 -0.000562847 -0.000563296" />
-        <geom pos="0.0224933 -0.254986 0.0183847" quat="0.706543 -0.000281742 -0.70767 0.000281346" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm1_top_2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm1_top_2" pos="0.0224933 -0.254986 0.0183847" quat="0.706543 -0.000281742 -0.70767 0.000281346" />
-        <geom pos="0.00021551 -0.255097 -0.121151" quat="-0.00039814 -1 2.80456e-07 -0.000796303" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm2_shell_2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm2_shell_2" pos="0.00021551 -0.255097 -0.121151" quat="-0.00039814 -1 2.80456e-07 -0.000796303" />
-        <geom pos="0.00037082 -0.229174 -0.218671" quat="-0.499801 -0.499402 0.500199 -0.500597" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm3_shell2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm3_shell2" pos="0.00037082 -0.229174 -0.218671" quat="-0.499801 -0.499402 0.500199 -0.500597" />
-        <geom pos="0.00065985 -0.250819 -0.400154" quat="-1 0.000398153 0.000796313 2.84053e-07" type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="hand_shell_2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="hand_shell_2" pos="0.00065985 -0.250819 -0.400154" quat="-1 0.000398153 0.000796313 2.84053e-07" />
-        <body name="leg0_shell" pos="0.00869875 0.087356 -0.432067" quat="-0.707388 -0.706825 0.000563329 -0.000562847">
-          <inertial pos="-0.00374632 -5.30704e-10 -0.0681251" quat="0.999982 0 -0.00597565 0" mass="1.32345" diaginertia="0.0018859 0.00142483 0.00129962" />
-          <joint name="L_hip_y" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" />
-          <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg0_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-          <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg0_shell" />
-          <body name="leg1_shell" pos="0.0265 -1.51659e-09 -0.0695" quat="0.5 -0.5 -0.5 0.5">
-            <inertial pos="-0.116471 0.00314347 0.025411" quat="0.161476 0.777733 0.0967657 0.599744" mass="1.36077" diaginertia="0.00292985 0.00283359 0.00156562" />
-            <joint name="L_hip_x" pos="0 0 0" axis="0 0 1" range="-0.349066 3.18523" />
-            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg1_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg1_shell" />
-            <body name="leg2_shell" pos="-0.1565 0 0.0275" quat="0.707107 0 0.707107 0">
-              <inertial pos="4.08555e-07 0.000531684 -0.137308" quat="0.707084 -0.00547271 0.00548785 0.707088" mass="1.82092" diaginertia="0.00422586 0.00311812 0.00206385" />
-              <joint name="L_hip_z" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" />
-              <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg2_shell" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-              <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg2_shell" />
-              <body name="leg3_shell2" pos="0 0.0342 -0.1425" quat="0.707107 0.707107 0 0">
-                <inertial pos="0.00103299 -0.12548 0.0366711" quat="0.691727 0.665165 0.198925 -0.19874" mass="1.17968" diaginertia="0.00753953 0.00750258 0.00111461" />
-                <joint name="L_knee" pos="0 0 0" axis="0 0 1" range="-1.57 0" />
-                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg3_shell2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg3_shell2" />
-                <body name="foot1" pos="0 -0.3 0.0702" quat="1 4.64102e-08 0 0">
-                  <inertial pos="0.0210264 -0.018472 -0.0193043" quat="0.505269 0.504957 0.48518 0.504304" mass="0.545747" diaginertia="0.00202977 0.00187214 0.000259286" />
-                  <joint name="L_ankle_y" pos="0 0 0" axis="0 0 -1" range="-0.698132 0.698132" />
-                  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="foot1" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-                  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="foot1" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="leg0_shell_2" pos="0.00869852 -0.088544 -0.431927" quat="0.706825 -0.707388 -0.000562847 -0.000563329">
-          <inertial pos="-0.00374632 -5.30704e-10 -0.0681251" quat="0.999982 0 -0.00597565 0" mass="1.32345" diaginertia="0.0018859 0.00142483 0.00129962" />
-          <joint name="R_hip_y" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" />
-          <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg0_shell_2" contype="1" conaffinity="0" density="0" group="1"/>
-          <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg0_shell_2"  class="visualgeom" />
-          <body name="leg1_shell3" pos="0.0265 -1.51659e-09 -0.0695" quat="0.5 0.5 -0.5 -0.5">
-            <inertial pos="-0.116295 -0.00314348 0.025411" quat="-0.153671 0.779807 -0.0904088 0.600093" mass="1.36077" diaginertia="0.00290521 0.00280837 0.00156629" />
-            <joint name="R_hip_x" pos="0 0 0" axis="0 0 1" range="-0.349066 3.18523" class="visualgeom" />
-            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg1_shell3" contype="1" conaffinity="0" density="0" group="1" />
-            <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg1_shell3" class="visualgeom" />
-            <body name="leg2_shell_2" pos="-0.1565 0 0.0275" quat="0 -0.707107 0 -0.707107">
-              <inertial pos="4.08555e-07 0.000531684 -0.137308" quat="0.707084 -0.00547271 0.00548785 0.707088" mass="1.82092" diaginertia="0.00422586 0.00311812 0.00206385" />
-              <joint name="R_hip_z" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" />
-              <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg2_shell_2" contype="1" conaffinity="0" density="0" group="1"/>
-              <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg2_shell_2" class="visualgeom" />
-              <body name="leg3_shell22" pos="0 0.0342 -0.1425" quat="0.707107 0.707107 0 0">
-                <inertial pos="-0.00103303 -0.12548 0.0366712" quat="0.691727 0.665164 -0.198928 0.198742" mass="1.17968" diaginertia="0.00753955 0.0075026 0.00111462" />
-                <joint name="R_knee" pos="0 0 0" axis="0 0 1" range="0 1.57" />
-                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg3_shell22" contype="1" conaffinity="0" density="0" group="1" />
-                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="leg3_shell22" class="visualgeom"  />
-                <body name="foot3" pos="1.07672e-08 -0.3 0.0272" quat="0 -2.32051e-08 1 -2.32051e-08">
-                  <inertial pos="0.0210264 -0.018472 -0.0236957" quat="0.504957 0.505269 0.504304 0.48518" mass="0.545747" diaginertia="0.00202977 0.00187214 0.000259286" />
-                  <joint name="R_ankle_y" pos="0 0 0" axis="0 0 1" range="-0.698132 0.698132" class="visualgeom"  />
-                  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="foot3" contype="1" conaffinity="0" density="0" group="1" />
-                  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="foot3" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="L_hip_y" joint="L_hip_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="L_hip_x" joint="L_hip_x" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="L_hip_z" joint="L_hip_z" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="L_knee" joint="L_knee" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="L_ankle_y" joint="L_ankle_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="R_hip_y" joint="R_hip_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="R_hip_x" joint="R_hip_x" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="R_hip_z" joint="R_hip_z" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="R_knee" joint="R_knee" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-    <motor name="R_ankle_y" joint="R_ankle_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
-  </actuator>
-
-  <sensor>
-    <actuatorpos name="L_hip_y_p" actuator="L_hip_y" />
-    <actuatorvel name="L_hip_y_v" actuator="L_hip_y" />
-    <actuatorfrc name="L_hip_y_f" actuator="L_hip_y" noise="0.001" />
-    <actuatorpos name="L_hip_x_p" actuator="L_hip_x" />
-    <actuatorvel name="L_hip_x_v" actuator="L_hip_x" />
-    <actuatorfrc name="L_hip_x_f" actuator="L_hip_x" noise="0.001" />
-    <actuatorpos name="L_hip_z_p" actuator="L_hip_z" />
-    <actuatorvel name="L_hip_z_v" actuator="L_hip_z" />
-    <actuatorfrc name="L_hip_z_f" actuator="L_hip_z" noise="0.001" />
-    <actuatorpos name="L_knee_p" actuator="L_knee" />
-    <actuatorvel name="L_knee_v" actuator="L_knee" />
-    <actuatorfrc name="L_knee_f" actuator="L_knee" noise="0.001" />
-    <actuatorpos name="L_ankle_y_p" actuator="L_ankle_y" />
-    <actuatorvel name="L_ankle_y_v" actuator="L_ankle_y" />
-    <actuatorfrc name="L_ankle_y_f" actuator="L_ankle_y" noise="0.001" />
-    <actuatorpos name="R_hip_y_p" actuator="R_hip_y" />
-    <actuatorvel name="R_hip_y_v" actuator="R_hip_y" />
-    <actuatorfrc name="R_hip_y_f" actuator="R_hip_y" noise="0.001" />
-    <actuatorpos name="R_hip_x_p" actuator="R_hip_x" />
-    <actuatorvel name="R_hip_x_v" actuator="R_hip_x" />
-    <actuatorfrc name="R_hip_x_f" actuator="R_hip_x" noise="0.001" />
-    <actuatorpos name="R_hip_z_p" actuator="R_hip_z" />
-    <actuatorvel name="R_hip_z_v" actuator="R_hip_z" />
-    <actuatorfrc name="R_hip_z_f" actuator="R_hip_z" noise="0.001" />
-    <actuatorpos name="R_knee_p" actuator="R_knee" />
-    <actuatorvel name="R_knee_v" actuator="R_knee" />
-    <actuatorfrc name="R_knee_f" actuator="R_knee" noise="0.001" />
-    <actuatorpos name="R_ankle_y_p" actuator="R_ankle_y" />
-    <actuatorvel name="R_ankle_y_v" actuator="R_ankle_y" />
-    <actuatorfrc name="R_ankle_y_f" actuator="R_ankle_y" noise="0.001" />
-    <framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
-    <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9" />
-  </sensor>
-
-  <keyframe>
-    <key name="default" qpos="0 0 1.05 1. 0.0 0.0 0.0 -0.23 0.0 0.0 -0.441 -0.195 0.23 0.0 0.0 0.441 0.195"/>
-    <key name="standing" qpos="0 0 1.075 1. 0.0 0.0 0.0 0 0.0 0.0 0 0 0 0.0 0.0 0 0"/>
-  </keyframe>
-</mujoco>
diff --git a/kos_sim/test_simulator.py b/kos_sim/test_simulator.py
index ac94ab1..c688b65 100644
--- a/kos_sim/test_simulator.py
+++ b/kos_sim/test_simulator.py
@@ -9,14 +9,14 @@
 def test_simulation(model_path: str, duration: float = 5.0, speed: float = 1.0, render: bool = True) -> None:
     simulator = MujocoSimulator(model_path, render=render)
 
-    for i in range(int(duration / 0.001)):
+    for _ in range(int(duration / 0.001)):
         simulator.step()
         time.sleep(0.001)
 
     simulator.close()
 
 
-if __name__ == "__main__":
+def main() -> None:
     parser = argparse.ArgumentParser(description="Test the MuJoCo simulation.")
     parser.add_argument("--model-path", type=str, required=True, help="Path to MuJoCo XML model file")
     parser.add_argument("--duration", type=float, default=5.0, help="Duration to run simulation (seconds)")
@@ -25,3 +25,8 @@ def test_simulation(model_path: str, duration: float = 5.0, speed: float = 1.0,
 
     args = parser.parse_args()
     test_simulation(args.model_path, duration=args.duration, speed=args.speed, render=not args.no_render)
+
+
+if __name__ == "__main__":
+    # python -m kos_sim.test_simulator
+    main()
diff --git a/kos_sim/test_viewer.py b/kos_sim/test_viewer.py
index e3f0235..f270d1a 100644
--- a/kos_sim/test_viewer.py
+++ b/kos_sim/test_viewer.py
@@ -1,18 +1,62 @@
-"""Test script for the viewer."""
+"""Test script for the viewer.
+
+This script is used to test the viewer.
+
+Usage:
+
+python -m kos_sim.test_viewer
+"""
+
+import asyncio
+import math
 
 import mujoco
 import mujoco_viewer
+from kscale import K
+
+api = K()
+
+# Gets the base path.
+# zbot_dir = asyncio.run(api.download_and_extract_urdf("zbot-v2"))
+# zbot_mjcf = next(zbot_dir.glob("*.mjcf"))
+
+zbot_mjcf = "/Users/ben/Github/urdfs/bots/kbot/gpr-20241204.mjcf"
 
-model = mujoco.MjModel.from_xml_path("models/gpr/robot_fixed.xml")
+model = mujoco.MjModel.from_xml_path(str(zbot_mjcf))
 data = mujoco.MjData(model)
 
 # create the viewer object
 viewer = mujoco_viewer.MujocoViewer(model, data)
 
+# Get simulation timestep
+timestep = model.opt.timestep
+last_update = asyncio.get_event_loop().time()
+start_time = last_update
+
+mujoco.mj_step(model, data)
+
 # simulate and render
 for _ in range(100000):
     if viewer.is_alive:
-        mujoco.mj_step(model, data)
+        current_time = asyncio.get_event_loop().time()
+        sim_time = current_time - last_update
+
+        # Calculate elapsed time since start for sinusoidal motion
+        elapsed_time = current_time - start_time
+
+        # Apply sinusoidal motion to each joint
+        # Adjust amplitude and frequency as needed
+        amplitude = 0.5  # radians
+        frequency = 0.5  # Hz
+        for i in range(model.nu):
+            data.ctrl[i] = amplitude * math.sin(2 * math.pi * frequency * elapsed_time)
+
+        # Step the simulation to match real time
+        # while sim_time > 0:
+        #     mujoco.mj_step(model, data)
+        #     sim_time -= timestep
+
+        last_update = current_time
         viewer.render()
     else:
         break