diff --git a/.gitignore b/.gitignore
index 8fdf038142..07e4e54e73 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,3 @@
 #auto_saved_files
-#__pycache__/
+__pycache__/
 *.swp
-__*__.*
diff --git a/webots/controllers/controller/.gitignore b/attic/webots/controller/.gitignore
similarity index 100%
rename from webots/controllers/controller/.gitignore
rename to attic/webots/controller/.gitignore
diff --git a/webots/controllers/controller/Makefile b/attic/webots/controller/Makefile
similarity index 79%
rename from webots/controllers/controller/Makefile
rename to attic/webots/controller/Makefile
index fa1dccc6a7..f8f742c652 100644
--- a/webots/controllers/controller/Makefile
+++ b/attic/webots/controller/Makefile
@@ -12,11 +12,8 @@
 #  You should have received a copy of the GNU General Public License
 #  along with this program. If not, see <http:--www.gnu.org/licenses/>.
 
-# Command-line variables; e.g. make run world=maze ---------------------------
+# Command-line variable; e.g. make run world=twoexit ------------------------
 world = simple
-poselogname = poselog.csv
-setpointlogname = setpointlog.csv
-# ----------------------------------------------------------------------------
 
 EXE = $(shell basename "`pwd`")
 
@@ -42,12 +39,14 @@ USE_C_API = true
 
 VERBOSE = 1
 
-run:
-	sed 's/#physics/physics/' $(WORLDS_DIR)/$(world).wbt > $(WORLDS_DIR)/tmp.wbt
-	webots $(WORLDS_DIR)/tmp.wbt &
-	/usr/local/webots/webots-controller --stdout-redirect $(EXE) $(world) \
-		$(poselogname) $(setpointlogname)
+# https://stackoverflow.com/a/49524393
+.EXPORT_ALL_VARIABLES:
+WEBOTS_WORLD = $(world)
+WEBOTS_PATH = $(shell pwd)
 
+run:
+	webots $(WORLDS_DIR)/$(world).wbt &
+	/usr/local/webots/webots-controller --stdout-redirect $(EXE) $(world)
 
 edit:
 	vim main.cpp
diff --git a/webots/controllers/controller/main.cpp b/attic/webots/controller/main.cpp
similarity index 93%
rename from webots/controllers/controller/main.cpp
rename to attic/webots/controller/main.cpp
index 653a501004..8674384211 100644
--- a/webots/controllers/controller/main.cpp
+++ b/attic/webots/controller/main.cpp
@@ -16,10 +16,13 @@
    along with this program. If not, see <http:--www.gnu.org/licenses/>.
  */
 
-// C/C++
+// C
 #include <unistd.h>
 #include <math.h>
+#include <stdlib.h>
 #include <string.h>
+
+// C++
 #include <map>
 #include <string>
 using namespace std;
@@ -30,7 +33,6 @@ using namespace std;
 #include <simulator/pose.h>
 #include <simulator/message.h>
 
-
 #include "platform.h"
 
 typedef struct {
@@ -234,10 +236,8 @@ static void getSimInfoFromJoystick(hf::siminfo_t & siminfo, hf::mode_e & mode)
     siminfo.setpoint.thrust = readJoystickAxis(axes.throttle);
 }
 
-int main(int argc, char ** argv) 
+int main() 
 {
-    (void)argc;
-
     hf::mode_e mode = hf::MODE_IDLE;
 
     platform_init();
@@ -251,14 +251,9 @@ int main(int argc, char ** argv)
         platform_get_vehicle_psi()
     };
 
-    FILE * setpointlogfp = fopen(argv[3], "w");
-
     while (true) {
 
         hf::siminfo_t siminfo = {};
-        strcpy(siminfo.path, getcwd(siminfo.path, sizeof(siminfo.path)));
-        strcpy(siminfo.worldname, argv[1]);
-        strcpy(siminfo.poselogname, argv[2]);
 
         if (!platform_step()) {
             break;
@@ -289,16 +284,8 @@ int main(int argc, char ** argv)
         memcpy(&siminfo.startingPose, &startingPose, sizeof(hf::pose_t));
         siminfo.framerate = platform_get_framerate();
         platform_send_siminfo(&siminfo, sizeof(siminfo));
-
-        // Save mode and setpoint to logfile
-        const auto sp = siminfo.setpoint;
-        fprintf(setpointlogfp, "%d,%f,%f,%f,%f\n",
-                siminfo.mode, sp.thrust, sp.roll, sp.pitch, sp.yaw);
-
     }
 
-    fclose(setpointlogfp);
-
     platform_cleanup();
 
     return 0;
diff --git a/webots/controllers/controller/platform.h b/attic/webots/controller/platform.h
similarity index 100%
rename from webots/controllers/controller/platform.h
rename to attic/webots/controller/platform.h
diff --git a/webots/controllers/controller/platform_webots.cpp b/attic/webots/controller/platform_webots.cpp
similarity index 100%
rename from webots/controllers/controller/platform_webots.cpp
rename to attic/webots/controller/platform_webots.cpp
diff --git a/attic/webots/controllers/controller/Makefile b/attic/webots/controllers/controller/Makefile
deleted file mode 100644
index 852a1f3ad8..0000000000
--- a/attic/webots/controllers/controller/Makefile
+++ /dev/null
@@ -1,72 +0,0 @@
-#  Copyright (C) 2025 Simon D. Levy
- 
-#  This program is free software: you can redistribute it and/or modify
-#  it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, in version 3.
-# 
-#  This program is distributed in the hope that it will be useful,
-#  but WITHOUT ANY WARRANTY without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-#  GNU General Public License for more details.
-# 
-#  You should have received a copy of the GNU General Public License
-#  along with this program. If not, see <http:--www.gnu.org/licenses/>.
-
-# TeNNLab framework stuff ----------------------------------------------------
-
-include ../../../snn_path.makefile
-
-NET = $(EMBDIR)/examples/difference/difference.txt
-
-VIZ_DIR = $(HOME)/Desktop/framework/viz
-VIZ_PORT = 8100
-
-# Support different worlds and closed-loop controllers ------------------------
-
-world = empty
-closedloop = standard
-
-# -----------------------------------------------------------------------------
-
-CFLAGS = -O3 -std=c++11 -Wall -Wextra
-
-SRCDIR = ../../../src
-INCLUDE = -I$(SRCDIR)
-
-CXX_SOURCES = controller.cpp
-
-all: controller
-
-# Use the Webots C API in your C++ controller program
-USE_C_API = true
-
-VERBOSE = 1
-
-run:
-	cp ../../plugins/physics/$(closedloop)/lib$(closedloop).so \
-		../../plugins/physics/__custom__/lib__custom__.so
-	webots ../../worlds/$(world).wbt &
-	/usr/local/webots/webots-controller --stdout-redirect controller
-
-runsnn:
-	cp ../../plugins/physics/snn/libsnn.so \
-		../../plugins/physics/__custom__/lib__custom__.so
-	webots ../../worlds/$(world).wbt &
-	/usr/local/webots/webots-controller --stdout-redirect controller &
-	sleep 1
-	cd $(VIZ_DIR); \
- 	love . -i '{"source":"request","port":$(VIZ_PORT),"host":"localhost"}' \
-     	-n $(NET) --set_num_screen_shot 0 --use_name_neuron \
-		'{"0":"I1","1":"I2","2":"S","3":"D1","4":"D2","5":"O","6":"S2"}' \
-		--set_font_size 16 \
-		> /dev/null
-
-### Do not modify: this includes Webots global Makefile.include
-null :=
-space := $(null) $(null)
-WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
-include $(WEBOTS_HOME_PATH)/resources/Makefile.include
-
-edit:
-	vim main.cpp
-
diff --git a/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pcb b/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pcb
index 4388b88f9a..b32592020e 100644
--- a/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pcb
+++ b/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pcb
@@ -166,7 +166,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 1.11 0.5)
+			(at 1.11 1.5)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -577,7 +577,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 0.365 -0.11)
+			(at 0.365 -1.11)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -1706,7 +1706,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 0.425 0.33)
+			(at 0.425 1.33)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -1774,7 +1774,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 1.23 -0.8)
+			(at 1.23 -1.8)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -2251,7 +2251,7 @@
 		)
 	)
 	(gr_text "CS"
-		(at 143.91 85.41 270)
+		(at 148 85.41 270)
 		(layer "F.SilkS")
 		(uuid "bacaeae0-c411-4564-8f7e-80f9a69cbf78")
 		(effects
@@ -2407,7 +2407,7 @@
 		)
 	)
 	(gr_text "SO"
-		(at 147.93 85.45 270)
+		(at 144 85.25 270)
 		(layer "F.SilkS")
 		(uuid "f52a00b7-0695-4179-b822-d5bf698c6df3")
 		(effects
@@ -2455,7 +2455,7 @@
 		)
 	)
 	(gr_text "CS"
-		(at 143.88 87.05 270)
+		(at 148 87.05 270)
 		(layer "B.SilkS")
 		(uuid "32cea446-2810-4452-9529-ffe9db9992dc")
 		(effects
@@ -2575,7 +2575,7 @@
 		)
 	)
 	(gr_text "SO"
-		(at 147.91 87.22 270)
+		(at 144 87 270)
 		(layer "B.SilkS")
 		(uuid "cdee91b0-cf45-46a4-9644-2afe901e933c")
 		(effects
@@ -2694,21 +2694,13 @@
 		(net 2)
 		(uuid "19fab7e3-e88a-47d6-adfd-f1ecef35113a")
 	)
-	(segment
-		(start 131.52 77.52)
-		(end 131.52 76.25)
-		(width 0.2)
-		(layer "F.Cu")
-		(net 2)
-		(uuid "1a9c19fd-95e1-4caf-86d3-893111dde0b7")
-	)
-	(segment
-		(start 139.436903 85.436903)
-		(end 131.52 77.52)
-		(width 0.2)
-		(layer "F.Cu")
+	(via
+		(at 139.436903 85.436903)
+		(size 0.6)
+		(drill 0.3)
+		(layers "F.Cu" "B.Cu")
 		(net 2)
-		(uuid "496027c7-2289-44a2-a04d-b630d32960f6")
+		(uuid "1bb914f9-a4bb-4c16-bcf3-ab258271c229")
 	)
 	(via
 		(at 143.963147 85.436903)
@@ -2718,6 +2710,14 @@
 		(net 2)
 		(uuid "afe9a1bd-b214-411e-be33-f711a9b4e978")
 	)
+	(segment
+		(start 131.52 76.25)
+		(end 131.52 78.484156)
+		(width 0.2)
+		(layer "B.Cu")
+		(net 2)
+		(uuid "9fc78240-9251-40eb-b805-f0589b179899")
+	)
 	(segment
 		(start 143.963147 85.436903)
 		(end 144.289123 85.436903)
@@ -2726,6 +2726,14 @@
 		(net 2)
 		(uuid "aca33f5f-07b3-4b95-9404-5ffc8b4d8186")
 	)
+	(segment
+		(start 131.52 78.484156)
+		(end 138.472747 85.436903)
+		(width 0.2)
+		(layer "B.Cu")
+		(net 2)
+		(uuid "b5f25cbd-1aed-4df0-b126-8ae704f0eb0f")
+	)
 	(segment
 		(start 144.289123 85.436903)
 		(end 145.42103 86.56881)
@@ -2742,6 +2750,14 @@
 		(net 2)
 		(uuid "c79b5ea6-f389-44de-8b3d-df869982f3b1")
 	)
+	(segment
+		(start 138.472747 85.436903)
+		(end 139.436903 85.436903)
+		(width 0.2)
+		(layer "B.Cu")
+		(net 2)
+		(uuid "cf293652-22bc-4dc5-b1a6-f271c6eae5f1")
+	)
 	(segment
 		(start 145.42103 86.56881)
 		(end 145.42103 87.30103)
@@ -3512,162 +3528,162 @@
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 				(xy 151.09835 81.327093) (xy 151.098354 81.327086) (xy 151.148596 81.192379) (xy 151.148598 81.192372)
-				(xy 151.154999 81.132844) (xy 151.155 81.132827) (xy 151.155 80.66) (xy 150.295686 80.66) (xy 150.30008 80.655606)
-				(xy 150.352741 80.564394) (xy 150.38 80.462661) (xy 150.38 80.357339) (xy 150.352741 80.255606)
-				(xy 150.30008 80.164394) (xy 150.295686 80.16) (xy 151.155 80.16) (xy 151.155 80.158501) (xy 151.174685 80.091462)
-				(xy 151.185718 80.081902) (xy 154.4995 80.081902) (xy 154.4995 80.318097) (xy 154.536446 80.551368)
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+				(xy 134.682319 104.76258) (xy 134.682205 104.762304) (xy 134.681224 104.761192) (xy 130.94279 99.95315)
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+				(xy 136.381903 101.5005) (xy 136.381908 101.5005) (xy 136.618097 101.5005) (xy 136.851368 101.463553)
+				(xy 137.075992 101.390568) (xy 137.286433 101.283343) (xy 137.47751 101.144517) (xy 137.644517 100.97751)
+				(xy 137.783343 100.786433) (xy 137.890568 100.575992) (xy 137.963553 100.351368) (xy 138.0005 100.118097)
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+				(xy 136.381908 98.4995) (xy 136.381903 98.4995) (xy 136.148631 98.536446) (xy 135.924003 98.609433)
+				(xy 135.713566 98.716657) (xy 135.60455 98.795862) (xy 135.52249 98.855483) (xy 135.522488 98.855485)
+				(xy 135.522487 98.855485) (xy 135.355485 99.022487) (xy 135.355485 99.022488) (xy 135.355483 99.02249)
+				(xy 135.295862 99.10455) (xy 135.216657 99.213566) (xy 135.109433 99.424003) (xy 135.036446 99.648631)
+				(xy 134.9995 99.881902) (xy 130.887392 99.881902) (xy 126.206609 93.861895) (xy 126.180998 93.796888)
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+				(xy 126.280909 72.813362) (xy 126.640319 72.743713) (xy 144.2195 72.743713) (xy 144.2195 72.956286)
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+				(xy 145.676286 74.2005) (xy 145.676287 74.2005) (xy 145.886243 74.167246) (xy 146.088412 74.101557)
+				(xy 146.277816 74.005051) (xy 146.364138 73.942335) (xy 146.449786 73.880109) (xy 146.449788 73.880106)
+				(xy 146.449792 73.880104) (xy 146.600104 73.729792) (xy 146.600106 73.729788) (xy 146.600109 73.729786)
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+				(xy 148.003754 74.2) (xy 148.216246 74.2) (xy 148.426127 74.166757) (xy 148.42613 74.166757) (xy 148.628217 74.101095)
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+				(xy 148.592962 72.979408) (xy 149.263181 73.649628) (xy 149.296666 73.710951) (xy 149.2995 73.7373)
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+				(xy 151.547881 71.4995) (xy 151.547873 71.4995) (xy 151.547864 71.4995) (xy 149.752129 71.4995)
+				(xy 149.752123 71.499501) (xy 149.692516 71.505908) (xy 149.557671 71.556202) (xy 149.557664 71.556206)
+				(xy 149.442455 71.642452) (xy 149.442452 71.642455) (xy 149.356206 71.757664) (xy 149.356202 71.757671)
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+				(xy 149.2995 71.96269) (xy 149.279815 72.029729) (xy 149.263181 72.050371) (xy 148.592962 72.72059)
+				(xy 148.575925 72.657007) (xy 148.510099 72.542993) (xy 148.417007 72.449901) (xy 148.302993 72.384075)
+				(xy 148.239409 72.367037) (xy 148.871716 71.734728) (xy 148.81755 71.695375) (xy 148.628217 71.598904)
+				(xy 148.426129 71.533242) (xy 148.216246 71.5) (xy 148.003754 71.5) (xy 147.793872 71.533242) (xy 147.793869 71.533242)
+				(xy 147.591782 71.598904) (xy 147.402439 71.69538) (xy 147.348282 71.734727) (xy 147.348282 71.734728)
+				(xy 147.980591 72.367037) (xy 147.917007 72.384075) (xy 147.802993 72.449901) (xy 147.709901 72.542993)
+				(xy 147.644075 72.657007) (xy 147.627037 72.720591) (xy 146.994728 72.088282) (xy 146.994727 72.088282)
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+				(xy 146.725049 72.142181) (xy 146.725048 72.142179) (xy 146.600109 71.970213) (xy 146.449786 71.81989)
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+				(xy 145.676287 71.4995) (xy 145.463713 71.4995) (xy 145.415042 71.507208) (xy 145.25376 71.532753)
+				(xy 145.051585 71.598444) (xy 144.862179 71.694951) (xy 144.690213 71.81989) (xy 144.53989 71.970213)
+				(xy 144.414951 72.142179) (xy 144.318444 72.331585) (xy 144.252753 72.53376) (xy 144.2195 72.743713)
+				(xy 126.640319 72.743713) (xy 127.29365 72.617106) (xy 127.723757 72.533757) (xy 139.248047 70.3005)
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+				(xy 139.335235 70.283603) (xy 139.359907 70.278823) (xy 139.365246 70.276222) (xy 139.387445 70.26793)
+				(xy 139.393186 70.266392) (xy 139.434992 70.242254) (xy 139.478387 70.221121) (xy 139.491858 70.209421)
+				(xy 139.496314 70.206849) (xy 139.502171 70.203468) (xy 139.502173 70.203468) (xy 139.502179 70.203464)
+				(xy 139.507314 70.2005) (xy 139.541445 70.166368) (xy 139.577895 70.13472) (xy 139.587881 70.119932)
+				(xy 139.6005 70.107314) (xy 139.622468 70.069263) (xy 139.627057 70.061922) (xy 139.651651 70.025507)
+				(xy 139.657469 70.008639) (xy 139.666392 69.993186) (xy 139.678885 69.94656) (xy 139.694627 69.900928)
+				(xy 139.695044 69.895002) (xy 139.698965 69.871618) (xy 139.7005 69.865891) (xy 139.7005 69.817615)
+				(xy 139.703894 69.76947) (xy 139.7005 69.751955) (xy 139.7005 56.7245) (xy 139.720185 56.657461)
 				(xy 139.772989 56.611706) (xy 139.8245 56.6005) (xy 151.573209 56.6005)
 			)
 		)
diff --git a/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pro b/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pro
index aee79a9c3c..e795ac570f 100644
--- a/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pro
+++ b/kicad/teensy2-bottom-bmi088/teensy2-bottom-bmi088.kicad_pro
@@ -37,9 +37,9 @@
         "other_text_thickness": 0.15,
         "other_text_upright": false,
         "pads": {
-          "drill": 1.0,
-          "height": 1.7,
-          "width": 1.7
+          "drill": 2.5,
+          "height": 2.5,
+          "width": 2.5
         },
         "silk_line_width": 0.1,
         "silk_text_italic": false,
@@ -451,7 +451,7 @@
     "pinned_symbol_libs": []
   },
   "meta": {
-    "filename": "teensy2-bottom-small.kicad_pro",
+    "filename": "teensy2-bottom-bmi088.kicad_pro",
     "version": 3
   },
   "net_settings": {
diff --git a/kicad/teensy2-bottom-small/teensy2-bottom-small.kicad_pcb b/kicad/teensy2-bottom-small/teensy2-bottom-small.kicad_pcb
index fd7a112238..52df15c588 100644
--- a/kicad/teensy2-bottom-small/teensy2-bottom-small.kicad_pcb
+++ b/kicad/teensy2-bottom-small/teensy2-bottom-small.kicad_pcb
@@ -106,6 +106,65 @@
 	(net 26 "unconnected-(J2-Pin_6-Pad6)")
 	(net 27 "unconnected-(J2-Pin_12-Pad12)")
 	(net 28 "unconnected-(J2-Pin_13-Pad13)")
+	(footprint ""
+		(layer "F.Cu")
+		(uuid "18dae091-1f41-4866-961f-584d99bd4d14")
+		(at 137.4 66.7)
+		(property "Reference" ""
+			(at 0 0 0)
+			(layer "F.SilkS")
+			(uuid "f104b7b3-4822-46b1-8751-812715b8f22f")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Value" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(uuid "f49b8cfb-78cd-407f-a7f0-f28d3fed923c")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Datasheet" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "2fe7213b-65ad-4334-86ce-588a327f8f1c")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Description" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "a27862b8-2523-4c8e-99ff-fcd6a918584f")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(pad "" np_thru_hole circle
+			(at -1.4 0)
+			(size 2.5 2.5)
+			(drill 2.5)
+			(layers "*.Cu" "*.Mask")
+			(uuid "61fa0ab9-bad8-4ddb-b035-d287296a28b3")
+		)
+		(embedded_fonts no)
+	)
 	(footprint "MountingHole:MountingHole_2.5mm"
 		(layer "F.Cu")
 		(uuid "2135fbde-93de-4687-898f-77ded28967a7")
@@ -166,7 +225,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 1.11 0.5)
+			(at 1.11 1.5)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -174,6 +233,65 @@
 		)
 		(embedded_fonts no)
 	)
+	(footprint ""
+		(layer "F.Cu")
+		(uuid "3135c92c-4476-49aa-8cae-a47810aa9c4f")
+		(at 154 66.8)
+		(property "Reference" ""
+			(at 0 0 0)
+			(layer "F.SilkS")
+			(uuid "cea75d6b-ddb2-488e-aaad-a80494073480")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Value" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(uuid "dd5b1e46-e676-497c-aabb-5bae4c153e7c")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Datasheet" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "a55da770-5b21-44d0-97d4-54ec63eceb09")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(property "Description" ""
+			(at 0 0 0)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "820fbe12-ca38-45cb-8d74-a3bdb7155633")
+			(effects
+				(font
+					(size 1.27 1.27)
+					(thickness 0.15)
+				)
+			)
+		)
+		(pad "" np_thru_hole circle
+			(at 1 0)
+			(size 2.5 2.5)
+			(drill 2.5)
+			(layers "*.Cu" "*.Mask")
+			(uuid "87d90436-65e3-42b8-aaf8-2fe6b9dab2ab")
+		)
+		(embedded_fonts no)
+	)
 	(footprint "Connector_PinHeader_2.00mm:PinHeader_1x06_P2.00mm_Vertical"
 		(layer "F.Cu")
 		(uuid "42ed1cbd-cdd3-413a-b0ad-4ade5b8e5db3")
@@ -422,7 +540,7 @@
 		(sheetfile "teensy2-bottom-small.kicad_sch")
 		(attr exclude_from_pos_files exclude_from_bom)
 		(pad "" np_thru_hole circle
-			(at 0.365 -0.11)
+			(at 0.365 -1.11)
 			(size 2.5 2.5)
 			(drill 2.5)
 			(layers "*.Cu" "*.Mask")
@@ -433,11 +551,11 @@
 	(footprint "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical"
 		(layer "F.Cu")
 		(uuid "851f6f9a-cb4a-40db-8fc8-1a32585d0c2f")
-		(at 150.65 72.85 -90)
+		(at 153.6 62.54 180)
 		(descr "Through hole straight pin header, 1x03, 2.54mm pitch, single row")
 		(tags "Through hole pin header THT 1x03 2.54mm single row")
 		(property "Reference" "J4"
-			(at 0 -2.38 90)
+			(at 0 -2.38 0)
 			(layer "F.SilkS")
 			(hide yes)
 			(uuid "03c1f2e1-c934-474a-9a04-86a62a38cc42")
@@ -449,7 +567,7 @@
 			)
 		)
 		(property "Value" "Conn_01x03_Socket"
-			(at 0 7.46 90)
+			(at 0 7.46 0)
 			(layer "F.Fab")
 			(hide yes)
 			(uuid "aa143893-c0fc-4481-aca9-a924b386f2a4")
@@ -461,7 +579,7 @@
 			)
 		)
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 			)
 		)
 	)
diff --git a/simtest/.gitignore b/simtest/.gitignore
index e4c50e6988..96b7e716eb 100644
--- a/simtest/.gitignore
+++ b/simtest/.gitignore
@@ -1,3 +1,4 @@
 *.o
 simtest
 *.csv
+__pycache__/
diff --git a/simtest/Makefile b/simtest/Makefile
index 729ec620b8..ea86a450ec 100644
--- a/simtest/Makefile
+++ b/simtest/Makefile
@@ -14,10 +14,10 @@ simtest: main.o twoexit.o
 
 main.o: main.cpp *.hpp ../src/*.hpp ../src/pids/*.hpp \
 	$(SIMSENSORS)/parsers/webots/* $(SIMSENSORS)/sensors/* 
-	g++ -Wall -c -I$(ROOT) -I../src main.cpp
+	g++ -std=c++17 -Wall -c -I$(ROOT) -I../src main.cpp
 
 twoexit.o: twoexit.cpp *.hpp
-	g++ -Wall -c -I$(ROOT) -I../src twoexit.cpp
+	g++ -std=c++17 -Wall -c -I$(ROOT) -I../src twoexit.cpp
 
 edit:
 	vim main.cpp
diff --git a/simtest/roboviz.py b/simtest/roboviz.py
new file mode 100644
index 0000000000..1c29aa843a
--- /dev/null
+++ b/simtest/roboviz.py
@@ -0,0 +1,185 @@
+'''
+roboviz.py - Python classes for displaying maps and robots
+
+Requires: numpy, matplotlib
+
+Copyright (C) 2018 Simon D. Levy
+
+This file is part of PyRoboViz.
+
+PyRoboViz is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation, either version 3 of the
+License, or (at your option) any later version.
+
+PyRoboViz is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+'''
+
+# Essential imports
+import matplotlib.pyplot as plt
+import matplotlib.cm as colormap
+import matplotlib.lines as mlines
+import numpy as np
+
+# Use native macOS backend; fall back to TkAgg on other platforms
+import matplotlib
+import platform
+if platform.system() == 'Darwin':
+    matplotlib.use('macosx')
+else:
+    matplotlib.use('TkAgg')
+
+
+class Visualizer(object):
+
+    # Robot display params
+    ROBOT_HEIGHT_M = 0.5
+    ROBOT_WIDTH_M = 0.3
+
+    def __init__(self, map_size_meters, map_size_pixels=800):
+
+        # Store constants for display
+        self.map_size_meters = map_size_meters
+        self.map_size_pixels = map_size_pixels
+
+        # Create a byte array to display the map with a color overlay
+        self.bgrbytes = bytearray(map_size_pixels * map_size_pixels * 3)
+
+        # Make a nice big (10"x10") figure
+        fig = plt.figure(figsize=(10, 10))
+
+        # Store Python ID of figure to detect window close
+        self.figid = id(fig)
+
+        # Use an "artist" to speed up map drawing
+        self.img_artist = None
+
+        # No vehicle to show yet
+        self.vehicle = None
+
+        # Create axes
+        self.ax = fig.gca()
+        self.ax.grid(False)
+
+        # Store previous position for trajectory
+        self.prevpos = None
+
+        self.rotate_angle = 0
+
+    def display(self, x_m, y_m, theta_deg,
+                start_angle=0,
+                title='',
+                flip_axes=False,
+                map_bytes=None,
+                show_trajectory=False,
+                obstacles=[]):
+
+        # print(x_m, y_m)
+
+        self._set_pose(x_m, y_m, theta_deg, start_angle,
+                      show_trajectory, flip_axes)
+
+        shift = -self.map_size_pixels / 2 if map_bytes is None else 0
+
+        # We base the axis on pixels, to support displaying the map
+        self.ax.set_xlim([shift, self.map_size_pixels+shift])
+        self.ax.set_ylim([shift, self.map_size_pixels+shift])
+
+        if map_bytes is not None:
+            self._showMap(map_bytes)
+
+        self._show_obstacles(obstacles, flip_axes)
+
+        plt.title(title)
+
+        self.ax.set_xlabel('Y (mm)' if flip_axes else 'X (mm)')
+        self.ax.set_ylabel('X (mm)' if flip_axes else 'Y (mm)')
+
+        return self._refresh()
+
+    def _showMap(self, map_bytes):
+
+        mapimg = np.reshape(np.frombuffer(map_bytes, dtype=np.uint8),
+                            (self.map_size_pixels, self.map_size_pixels))
+
+        if self.img_artist is None:
+
+            self.img_artist = self.ax.imshow(mapimg, cmap=colormap.gray)
+
+        else:
+
+            self.img_artist.set_data(mapimg)
+
+    def _show_obstacles(self, obstacles, flip_axes):
+
+        for obst in obstacles:
+            xs = [x * 100 for x in obst['x']] # (0, 100, 100, 0, 0)
+            ys = [y * 100 for y in obst['y']] # (0, 0, 100, 100, 0)
+            plt.fill(xs, ys, color='black')
+
+
+    def _set_pose(self, x_m, y_m, theta_deg, start_angle, showtraj, flip_axes):
+
+        # If zero-angle was indicated, grab first angle to compute rotation
+        if start_angle is None and self.zero_angle != 0:
+            start_angle = theta_deg
+            self.rotate_angle = self.zero_angle - self.start_angle
+
+        # Flip axes if indicated
+        if flip_axes:
+            x_m, y_m = y_m, x_m
+            theta_deg = 90 - theta_deg
+
+        # Rotate by computed angle, or zero if no zero-angle indicated
+        d = self.rotate_angle
+        a = np.radians(d)
+        c = np.cos(a)
+        s = np.sin(a)
+        x_m, y_m = x_m*c-y_m*s, y_m*c+x_m*s
+
+        # Erase previous vehicle image after first iteration
+        if self.vehicle is not None:
+            self.vehicle.remove()
+
+        # Use a very short arrow shaft to orient the head of the arrow
+        theta_rad = np.radians(theta_deg+d)
+        c = np.cos(theta_rad)
+        s = np.sin(theta_rad)
+        L = 0.1
+        dx = L * c
+        dy = L * s
+
+        s = self.map_size_meters / self.map_size_pixels
+
+        self.vehicle = self.ax.arrow(x_m/s, y_m/s, dx, dy,
+                                     head_width=Visualizer.ROBOT_WIDTH_M/s,
+                                     head_length=Visualizer.ROBOT_HEIGHT_M/s,
+                                     fc='r', ec='r')
+
+        # Show trajectory if indicated
+        currpos = x_m/s, y_m/s
+        if showtraj and self.prevpos is not None:
+            self.ax.add_line(mlines.Line2D((self.prevpos[0], currpos[0]),
+                             (self.prevpos[1], currpos[1])))
+        self.prevpos = currpos
+
+    def _refresh(self):
+
+        # If we have a new figure, something went wrong (closing figure failed)
+        if self.figid != id(plt.gcf()):
+            return False
+
+        # Redraw current objects without blocking
+        plt.draw()
+
+        # Refresh display, setting flag on window close or keyboard interrupt
+        try:
+            plt.pause(.01)  # Arbitrary pause to force redraw
+            return True
+        except Exception:
+            return False
+
+        return True
diff --git a/simtest/simsensors/__init__.py b/simtest/simsensors/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/simtest/simsensors/parsers/__init__.py b/simtest/simsensors/parsers/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/simtest/simsensors/parsers/webots/__init__.py b/simtest/simsensors/parsers/webots/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/simtest/simsensors/parsers/webots/world.py b/simtest/simsensors/parsers/webots/world.py
new file mode 100644
index 0000000000..4cbcf49a7e
--- /dev/null
+++ b/simtest/simsensors/parsers/webots/world.py
@@ -0,0 +1,79 @@
+'''
+Simple VRML parser for Webots .wbt world files
+
+Python port of the C++ WorldParser from simsensors.
+
+Copyright (C) 2025 Simon D. Levy
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, in version 3.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see <http://www.gnu.org/licenses/>.
+'''
+
+
+def parse(world_file_name):
+    '''
+    Parse a Webots .wbt world file and return a dict with a 'walls' list.
+    Each wall has 'translation' (3-list), 'rotation' (4-list), 'size' (3-list),
+    and 'name' (string).
+    '''
+
+    walls = []
+    current_wall = None
+
+    with open(world_file_name) as f:
+        for line in f:
+            line = line.strip()
+
+            if 'Wall {' in line:
+                current_wall = {
+                    'translation': [0.0, 0.0, 0.0],
+                    'rotation': [0.0, 0.0, 1.0, 0.0],
+                    'size': [0.0, 0.0, 0.0],
+                    'name': '',
+                }
+
+            if current_wall is not None:
+                _try_parse_vec3(line, 'translation', current_wall)
+                _try_parse_rotation(line, 'rotation', current_wall)
+                _try_parse_vec3(line, 'size', current_wall)
+                _try_parse_name(line, current_wall)
+
+                if '}' in line:
+                    walls.append(current_wall)
+                    current_wall = None
+
+    return {'walls': walls}
+
+
+def _try_parse_vec3(line, field_name, wall):
+    if field_name in line:
+        toks = line.split()
+        if len(toks) >= 4:
+            wall[field_name] = [float(toks[1]), float(toks[2]), float(toks[3])]
+
+
+def _try_parse_rotation(line, field_name, wall):
+    if field_name in line:
+        toks = line.split()
+        if len(toks) >= 5:
+            wall[field_name] = [
+                float(toks[1]), float(toks[2]),
+                float(toks[3]), float(toks[4]),
+            ]
+
+
+def _try_parse_name(line, wall):
+    if 'name' in line:
+        toks = line.split()
+        if len(toks) >= 2:
+            # Remove surrounding quotes
+            wall['name'] = toks[1].strip('"')
diff --git a/src/mixers/crazyflie.hpp b/src/mixers/crazyflie.hpp
index 04a2ac9e7a..8ef2f01502 100644
--- a/src/mixers/crazyflie.hpp
+++ b/src/mixers/crazyflie.hpp
@@ -38,11 +38,6 @@ namespace hf {
             static constexpr int8_t pitch[4] = {-1, +1, +1, -1};
             static constexpr int8_t yaw[4]   = {+1, -1, +1, -1};
 
-            static float * mix(const demands_t & demands)
-            {
-                return RotorMixer::mix(demands, roll, pitch, yaw, 4);
-            }
-
             static void mix(const demands_t & demands, float motors[])
             {
                 RotorMixer::mix(demands, roll, pitch, yaw, 4, motors);
diff --git a/src/simulator/message.h b/src/simulator/message.h
deleted file mode 100644
index 32ea19868a..0000000000
--- a/src/simulator/message.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/* 
- * Simulation data message sent from slow (UI) to fast (PID / dynamics) threads
- *
- * Copyright (C) 2026 Simon D. Levy
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, in version 3.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http:--www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include <datatypes.h>
-#include <simulator/pose.h>
-
-namespace hf {
-
-    typedef struct {
-
-        pose_t startingPose;
-        float framerate;
-        char path[200];
-        char worldname[200];
-        char poselogname[200];
-        mode_e mode;
-        demands_t setpoint;
-
-    } siminfo_t;
-}
diff --git a/src/simulator/simulator.hpp b/src/simulator/simulator.hpp
index 4a0d0ed99b..4bbd3d9e9d 100644
--- a/src/simulator/simulator.hpp
+++ b/src/simulator/simulator.hpp
@@ -90,7 +90,8 @@ namespace hf {
                         };
 
                         // Get motor RPMS from mixer
-                        const auto * motors = Mixer::mix(new_demands);
+                        float motors[4] = {};
+                        Mixer::mix(new_demands, motors);
 
                         // Convert motor values to double for dynamics
                         const auto * rpms = motors2doubless(motors, 4);
@@ -98,8 +99,7 @@ namespace hf {
                         // Run dynamics in inner loop -----------------------------
                         for (uint32_t k=0; k<DYNAMICS_FREQ/PID_FAST_FREQ; ++k) {
 
-                            _dynamics.update(rpms, 4,
-                                    Mixer::roll, Mixer::pitch, Mixer::yaw);
+                            _dynamics.update(rpms, 4, Mixer::roll, Mixer::pitch, Mixer::yaw);
                         }
                     }
                 }
diff --git a/webots/README.md b/webots/README.md
index 69180efeb7..c176b4497c 100644
--- a/webots/README.md
+++ b/webots/README.md
@@ -18,8 +18,7 @@ on your computer.
 ```
 cd webots/plugins/physics/simple
 make
-cd ../../../controllers/controller
-make
+cd ../../../controllers/standard
 make run
 ```
 
diff --git a/webots/controllers/playback/Makefile b/webots/controllers/playback/Makefile
index 478b750ce4..d8613dcbce 100644
--- a/webots/controllers/playback/Makefile
+++ b/webots/controllers/playback/Makefile
@@ -12,21 +12,22 @@
 #  You should have received a copy of the GNU General Public License
 #  along with this program. If not, see <http:--www.gnu.org/licenses/>.
 
-# Command-line variables; e.g. make run world=maze ---------------------------
-
-
-# Command-line variables; e.g. make run world=maze ---------------------------
+# Command-line variables; e.g.:
+#   make run world=simple logfile=../controller/log.csv
+#
 world = twoexit
 logfile = ../../../simtest/log.csv
-#-----------------------------------------------------------------------------
+
+WORLDS_DIR = ../../worlds
 
 run:
-	webots ../../worlds/$(world).wbt &
+	sed 's/physics.*//' $(WORLDS_DIR)/$(world).wbt > $(WORLDS_DIR)/$(world)_playback.wbt
+	webots $(WORLDS_DIR)/$(world)_playback.wbt &
 	/usr/local/webots/webots-controller --stdout-redirect \
 		./playback.py $(logfile)
 
 edit:
-	vim main.cpp
+	vim pyplayback.py
 
 ### Do not modify: this includes Webots global Makefile.include
 null :=
diff --git a/webots/controllers/playback/playback.py b/webots/controllers/playback/playback.py
index 85157a2cb2..dade4d0c87 100644
--- a/webots/controllers/playback/playback.py
+++ b/webots/controllers/playback/playback.py
@@ -22,6 +22,13 @@
 
 from controller import Supervisor
 
+import numpy as np
+
+try:
+    import cv2
+except Exception:
+    cv2 = None
+
 
 class DiyQuad(Supervisor):
 
@@ -62,6 +69,32 @@ def start_motor(quad, motor_name, direction):
     motor.setVelocity(direction * 60)
 
 
+def show_rangefinder_distances(distances_mm, width, height,
+                               dmin_m=.01, dmax_m=4, scaleup=32):
+
+    new_width = width * scaleup
+    new_height = height * scaleup
+
+    img = np.zeros((new_height, new_width), dtype=np.uint8)
+
+    for x in range(width):
+
+        for y in range(height):
+
+            d_mm = distances_mm[y * width + x]
+
+            grayval = (255 if d_mm == -1
+                       else int((d_mm/1000. - dmin_m) /
+                                (dmax_m - dmin_m) * 255))
+
+            cv2.rectangle(img, (x*scaleup, y*scaleup),
+                          ((x+1)*scaleup, (y+1)*scaleup),
+                          grayval, -1)
+
+    cv2.imshow('lidar', img)
+    cv2.waitKey(1)
+
+
 def main():
 
     quad = DiyQuad()
@@ -93,7 +126,12 @@ def main():
         rotation_field.setSFRotation(
                 euler_to_rotation(vals[3], vals[4], -vals[5]))
 
-        # rangefinder_distances = vals[6:]
+        rangefinder_distances = vals[6:]
+
+        if cv2 is None:
+            print(rangefinder_distances)
+        else:
+            show_rangefinder_distances(rangefinder_distances, 8, 1)
 
 
 main()
diff --git a/webots/controllers/standard/.gitignore b/webots/controllers/standard/.gitignore
new file mode 100644
index 0000000000..afed0735dc
--- /dev/null
+++ b/webots/controllers/standard/.gitignore
@@ -0,0 +1 @@
+*.csv
diff --git a/webots/controllers/standard/Makefile b/webots/controllers/standard/Makefile
new file mode 100644
index 0000000000..475e3f6119
--- /dev/null
+++ b/webots/controllers/standard/Makefile
@@ -0,0 +1,40 @@
+#  Copyright (C) 2026 Simon D. Levy
+ 
+#  This program is free software: you can redistribute it and/or modify
+#  it under the terms of the GNU General Public License as published by
+#  the Free Software Foundation, in version 3.
+# 
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+#  GNU General Public License for more details.
+# 
+#  You should have received a copy of the GNU General Public License
+#  along with this program. If not, see <http:--www.gnu.org/licenses/>.
+
+# Command-line variable; e.g. make run world=twoexit
+world = simple
+
+WORLDS_DIR = ../../worlds
+
+# https://stackoverflow.com/a/49524393
+.EXPORT_ALL_VARIABLES:
+WEBOTS_WORLD = $(world)
+WEBOTS_PATH = $(shell pwd)
+
+FILES_TO_REMOVE += *.csv __pycache__/
+
+run:
+	webots $(WORLDS_DIR)/$(world).wbt &
+	/usr/local/webots/webots-controller --stdout-redirect \
+		./standard.py $(world)
+
+edit:
+	vim standard.py 
+
+### Do not modify: this includes Webots global Makefile.include
+null :=
+space := $(null) $(null)
+WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
+include $(WEBOTS_HOME_PATH)/resources/Makefile.include
+
diff --git a/webots/controllers/standard/standard.py b/webots/controllers/standard/standard.py
new file mode 100755
index 0000000000..6fecb5d14f
--- /dev/null
+++ b/webots/controllers/standard/standard.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python
+'''
+   Python flight simulator main for Hackflight with C++ custom physics plugin
+
+   Copyright (C) 2026 Simon D. Levy
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, in version 3.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program. If not, see <http:--www.gnu.org/licenses/>.
+'''
+
+import struct
+
+from controller import Robot
+
+JOYSTICK_AXIS_MAP = {
+    'Logitech Gamepad F310': (-2, 4, -5, 1),
+    'Microsoft X-Box 360 pad': (-2, 4, -5, 1)
+}
+
+MODES = {'idle': 0, 'hovering': 2, 'autonomous': 3, 'landing': 4}
+
+ZDIST_LANDING_MAX_M = 0.01
+
+
+def startMotor(robot, motor_name, direction):
+
+    motor = robot.getDevice(motor_name)
+    motor.setPosition(float('inf'))
+    motor.setVelocity(direction * 60)
+
+
+def printKeyboardInstructions():
+    print('Using keyboard instead:\n')
+    print('- Use Enter to take off and land\n')
+    print('- Use W and S to go up and down\n')
+    print('- Use arrow keys to move horizontally\n')
+    print('- Use Q and E to change heading\n')
+
+
+def reportUnrecognizedJoystick(joystick):
+    print('Unrecognized joystick %s with axes ' % joystick.model, end='')
+    for k in range(joystick.number_of_axes):
+        print('%2d=%+6d |' % (k+1, joystick.getAxisValue(k)), end=' ')
+    print()
+
+
+def switchMode(what, mode):
+    return (
+        'hovering' if mode == 'idle' and what == 'hover' else
+        'landing' if mode == 'hovering' and what == 'hover' else
+        'autonomous' if mode == 'hovering' and what == 'auto' else
+        'hovering' if mode == 'autonomous' and what == 'auto' else
+        mode)
+
+
+def checkPressed(button, target, what, buttons_down, mode):
+    if button == target:
+        if not buttons_down[what]:
+            mode = switchMode(what, mode)
+        buttons_down[what] = True
+    else:
+        buttons_down[what] = False
+    return mode
+
+
+def normalizeJoystickAxis(rawval):
+    return 2 * rawval / (2**16)
+
+
+def readJoystickRaw(joystick, index):
+    axis = abs(index) - 1
+    sign = -1 if index < 0 else +1
+    return sign * joystick.getAxisValue(axis)
+
+
+def readJoystickAxis(joystick, index):
+    return normalizeJoystickAxis(readJoystickRaw(joystick, index))
+
+
+def getModeFromButton(
+        button, hover_button, auto_button, buttons_down, cmdinfo):
+
+    mode = cmdinfo[0]
+    mode = checkPressed(button, hover_button, 'hover', buttons_down, mode)
+    return checkPressed(button, auto_button, 'auto', buttons_down, mode)
+
+
+def getCommandInfoFromJoystick(joystick, buttons_down, cmdinfo):
+
+    mode = getModeFromButton(joystick.getPressedButton(), 5, 4, buttons_down,
+                             cmdinfo)
+
+    axes = JOYSTICK_AXIS_MAP[joystick.model]
+
+    thrust = readJoystickAxis(joystick, axes[0])
+    roll = readJoystickAxis(joystick, axes[1])
+    pitch = readJoystickAxis(joystick, axes[2])
+    yaw = readJoystickAxis(joystick, axes[3])
+
+    return mode, thrust, roll, pitch, yaw
+
+
+def getCommandInfoFromKeyboard(keyboard, keys_down, cmdinfo):
+
+    key = keyboard.getKey()
+
+    mode = getModeFromButton(key, 4, 32, keys_down, cmdinfo)
+
+    thrust = +1 if key == ord('W') else -1 if key == ord('S') else 0
+
+    roll = (+1 if key == keyboard.RIGHT else
+            -1 if key == keyboard.LEFT else
+            0)
+
+    pitch = (+1 if key == keyboard.UP else
+             -1 if key == keyboard.DOWN else
+             0)
+
+    yaw = +0.5 if key == ord('E') else -0.5 if key == ord('Q') else 0
+
+    return mode, thrust, roll, pitch, yaw
+
+
+def getAndEnableDevice(robot, timestep, device_name):
+    device = robot.getDevice(device_name)
+    device.enable(timestep)
+    return device
+
+
+def main():
+
+    robot = Robot()
+
+    timestep = int(robot.getBasicTimeStep())
+
+    joystick = robot.getJoystick()
+    joystick.enable(timestep)
+
+    keyboard = robot.getKeyboard()
+    keyboard.enable(timestep)
+
+    gps = getAndEnableDevice(robot, timestep, 'gps')
+    imu = getAndEnableDevice(robot, timestep, 'inertial unit')
+    emitter = robot.getDevice('emitter')
+
+    robot.step(timestep)
+
+    use_keyboard = False
+
+    if joystick.is_connected:
+
+        if joystick.model not in JOYSTICK_AXIS_MAP:
+            print('Unrecognized joystick %s' % joystick.model)
+            use_keyboard = True
+
+    else:
+        use_keyboard = True
+
+    if use_keyboard:
+        printKeyboardInstructions()
+
+    buttons_down = {'hover': False, 'auto': False}
+
+    xyz = gps.getValues()
+    rpy = imu.getRollPitchYaw()
+
+    # Negate for leftward/nose-right positive
+    startpose = (xyz[0], -xyz[1], xyz[2], rpy[0], rpy[1], -rpy[2])
+
+    cmdinfo = 'idle', 0, 0, 0, 0
+
+    startMotor(robot, 'motor1', -1)
+    startMotor(robot, 'motor2', +1)
+    startMotor(robot, 'motor3', +1)
+    startMotor(robot, 'motor4', -1)
+
+    while True:
+
+        if robot.step(timestep) == -1:
+            break
+
+        cmdinfo = (getCommandInfoFromKeyboard(keyboard, buttons_down, cmdinfo)
+                   if use_keyboard
+                   else getCommandInfoFromJoystick(
+                       joystick, buttons_down, cmdinfo))
+
+        mode = cmdinfo[0]
+
+        # On descent, switch mode to idle when close enough to ground
+        if (mode == 'landing' and
+           (gps.getValues()[2] - startpose[2]) < ZDIST_LANDING_MAX_M):
+           mode = 'idle'
+
+        # Send siminfo to fast thread
+        emitter.send(struct.pack(
+                'ddddddfIffff',
+                startpose[0], startpose[1], startpose[2],  # starting pose
+                startpose[3], startpose[4], startpose[5],
+                timestep,                                 # framerate
+                int(MODES[mode]),                         # mode
+                cmdinfo[1], cmdinfo[2], cmdinfo[3], cmdinfo[4]))  # setpoint
+
+
+main()
diff --git a/webots/plugins/physics/common.hpp b/webots/plugins/physics/common.hpp
index 36f7026acf..f2f7b93b0d 100644
--- a/webots/plugins/physics/common.hpp
+++ b/webots/plugins/physics/common.hpp
@@ -21,7 +21,8 @@
 
 // Hackflight
 #define _MAIN
-#include <simulator/message.h>
+#include <datatypes.h>
+#include <simulator/pose.h>
 #include <simulator/simulator.hpp>
 
 static constexpr char ROBOT_NAME[] = "diyquad";
@@ -58,7 +59,16 @@ class PhysicsPluginHelper {
 
     public:
 
-        static bool get_siminfo(hf::siminfo_t & siminfo)
+        typedef struct {
+
+            hf::pose_t startingPose;
+            float framerate;
+            hf::mode_e mode;
+            hf::demands_t setpoint;
+
+        } siminfo_t;
+
+        static bool get_siminfo(siminfo_t & siminfo)
         {
             if (_robot == NULL) {
                 return false;
@@ -67,9 +77,9 @@ class PhysicsPluginHelper {
             int bytes_received = 0;
 
             // Get sim info from main program
-            const auto buffer = (hf::siminfo_t *)dWebotsReceive(&bytes_received);
+            const auto buffer = (siminfo_t *)dWebotsReceive(&bytes_received);
 
-            if (bytes_received == sizeof(hf::siminfo_t)) {
+            if (bytes_received == sizeof(siminfo_t)) {
                 memcpy(&siminfo, buffer, sizeof(siminfo));
             }
 
@@ -77,7 +87,7 @@ class PhysicsPluginHelper {
             return siminfo.framerate > 0;
         }
 
-        static hf::pose_t get_pose_from_siminfo(const hf::siminfo_t & siminfo)
+        static hf::pose_t get_pose_from_siminfo(const siminfo_t & siminfo)
         {
             // Set pose first time around
             static bool _ready;
diff --git a/webots/plugins/physics/experimental/experimental.cpp b/webots/plugins/physics/experimental/experimental.cpp
index 20c5b1f4e2..6f5ec1a98f 100644
--- a/webots/plugins/physics/experimental/experimental.cpp
+++ b/webots/plugins/physics/experimental/experimental.cpp
@@ -16,6 +16,10 @@
  * along with this program. If not, see <http:--www.gnu.org/licenses/>.
  */
 
+// C
+#include <stdlib.h>
+#include <unistd.h>
+
 // Webots
 #include "../common.hpp"
 
@@ -31,33 +35,43 @@
 
 static const uint8_t RANGEFINDER_DISPLAY_SCALEUP = 64;
 
+static const char * LOG_FILE_NAME = "log.csv";
+
+static const char * PATH_VARIABLE_NAME = "WEBOTS_PATH";
+static const char * WORLD_VARIABLE_NAME = "WEBOTS_WORLD";
+
 static simsens::Rangefinder * _rangefinder;
 
 static simsens::RangefinderVisualizer * _rangefinderVisualizer;
 
-static void load(const hf::siminfo_t & siminfo,
-        simsens::World & world,
-        simsens::Robot & robot,
-        FILE ** logfpp)
+static char * worldname()
 {
-    char path[1000];
+    return getenv(WORLD_VARIABLE_NAME);
+}
+
+static void load(
+        simsens::World & world, simsens::Robot & robot, FILE ** logfpp)
+{
+    const auto pwd = getenv(PATH_VARIABLE_NAME);
+
+    char path[1000] = {};
 
-    sprintf(path, "%s/../../worlds/%s.wbt", siminfo.path, siminfo.worldname);
+    sprintf(path, "%s/../../worlds/%s.wbt", pwd, worldname());
     simsens::WorldParser::parse(path, world);
 
-    sprintf(path, "%s/../../protos/DiyQuad.proto", siminfo.path);
+    sprintf(path, "%s/../../protos/DiyQuad.proto", pwd);
     simsens::RobotParser::parse(path, robot);
 
     _rangefinder = new simsens::Rangefinder(*robot.rangefinders[0]);
 
     _rangefinderVisualizer = new simsens::RangefinderVisualizer(_rangefinder);
 
-    sprintf(path, "%s/%s", siminfo.path, siminfo.poselogname);
+    sprintf(path, "%s/%s", pwd, LOG_FILE_NAME);
     *logfpp = fopen(path, "w");
 }
 
 // Returns false on collision, true otherwise
-static bool run_normal(hf::siminfo_t & siminfo)
+static bool run_normal(PhysicsPluginHelper::siminfo_t & siminfo)
 {
     static simsens::World _world;
     static simsens::Robot _robot;
@@ -69,13 +83,13 @@ static bool run_normal(hf::siminfo_t & siminfo)
     // In autonomous mode, use current pose to get setpoints
     if (autonomous) {
 
-        if (string(siminfo.worldname) == "twoexit") {
+        if (string(worldname()) == "twoexit") {
             hf::RangefinderSetpoint::runTwoExit(
                     _rangefinder_distances_mm, siminfo.setpoint);
         }
 
         else {
-            printf("No autopilot for world %s\n", siminfo.worldname);
+            printf("No autopilot for world %s\n", worldname());
         }
     }
 
@@ -84,7 +98,7 @@ static bool run_normal(hf::siminfo_t & siminfo)
 
     // Load world and robot info first time around
     if (!_rangefinder) {
-        load(siminfo, _world, _robot, &_logfp);
+        load(_world, _robot, &_logfp);
     }
 
     // Get simulated rangefinder distances
@@ -127,7 +141,7 @@ DLLEXPORT void webots_physics_step()
 
     else {
 
-        hf::siminfo_t siminfo = {};
+        PhysicsPluginHelper::siminfo_t siminfo = {};
 
         if (PhysicsPluginHelper::get_siminfo(siminfo)) {
 
diff --git a/webots/plugins/physics/simple/simple.cpp b/webots/plugins/physics/simple/simple.cpp
index bb3cea298a..4eb8b116b1 100644
--- a/webots/plugins/physics/simple/simple.cpp
+++ b/webots/plugins/physics/simple/simple.cpp
@@ -21,7 +21,7 @@
 // This is called by Webots in the outer (display, kinematics) loop
 DLLEXPORT void webots_physics_step() 
 {
-    hf::siminfo_t siminfo = {};
+    PhysicsPluginHelper::siminfo_t siminfo = {};
 
     if (PhysicsPluginHelper::get_siminfo(siminfo)) {
 
diff --git a/webots/worlds/.gitignore b/webots/worlds/.gitignore
index 6bc0ba1117..11b8e4a4e0 100644
--- a/webots/worlds/.gitignore
+++ b/webots/worlds/.gitignore
@@ -1,2 +1,2 @@
-tmp.wbt
 .*.jpg
+*_playback.wbt
diff --git a/webots/worlds/twoexit.wbt b/webots/worlds/twoexit.wbt
index 6e4e390bba..1137a51717 100644
--- a/webots/worlds/twoexit.wbt
+++ b/webots/worlds/twoexit.wbt
@@ -8,8 +8,8 @@ EXTERNPROTO "../protos/DiyQuad.proto"
 
 WorldInfo {
   title "Hackflight"
-  #physics "experimental"
   gravity 0
+  physics "experimental"
   contactProperties [
     ContactProperties {
       coulombFriction [
@@ -21,13 +21,13 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation -0.007365968524207539 0.9998100918073269 -0.01804225118783057 1.4721798116781641
-  position -0.9331254679963351 0.6384823031995971 5.00766176099283
+  orientation -0.006243249098038479 0.999827300157543 -0.017504048114038242 1.5621635181989688
+  position -0.4585315057596007 0.5629292671215622 6.724944923564715
   follow "DiyQuad"
 }
 DEF diyquad DiyQuad {
-  translation -0.27 0.81 0.037985
-  rotation 0 0 1 1.5707999514237778
+  translation -0.560658 0.780204 0.00774505
+  rotation -0.003500030644016716 -0.003062950563592598 0.9999891840011749 1.7038
 }
 TexturedBackground {
 }