diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini
index c671cd4..e3068fc 100644
--- a/Config/DefaultEngine.ini
+++ b/Config/DefaultEngine.ini
@@ -1,8 +1,9 @@
 
 
 [/Script/EngineSettings.GameMapsSettings]
-GameDefaultMap=/Engine/Maps/Templates/Template_Default.Template_Default
-
+GameDefaultMap=/Game/Levels/Main.Main
+EditorStartupMap=/Game/Levels/Main.Main
+GlobalDefaultGameMode=/Script/PBDRobotics.PBDRoboticsGameModeBase
 
 [/Script/HardwareTargeting.HardwareTargetingSettings]
 TargetedHardwareClass=Desktop
@@ -15,3 +16,6 @@ AppliedDefaultGraphicsPerformance=Maximum
 +ActiveGameNameRedirects=(OldGameName="/Script/TP_Blank",NewGameName="/Script/PBDRobotics")
 +ActiveClassRedirects=(OldClassName="TP_BlankGameModeBase",NewClassName="PBDRoboticsGameModeBase")
 
+[/Script/Engine.RendererSettings]
+r.DefaultFeature.AutoExposure=False
+
diff --git a/Content/Blueprints/BP_Link.uasset b/Content/Blueprints/BP_Link.uasset
new file mode 100644
index 0000000..42a76c5
Binary files /dev/null and b/Content/Blueprints/BP_Link.uasset differ
diff --git a/Content/Blueprints/BP_Puma.uasset b/Content/Blueprints/BP_Puma.uasset
new file mode 100644
index 0000000..db3d858
Binary files /dev/null and b/Content/Blueprints/BP_Puma.uasset differ
diff --git a/Content/Blueprints/BP_Robot.uasset b/Content/Blueprints/BP_Robot.uasset
new file mode 100644
index 0000000..b03c769
Binary files /dev/null and b/Content/Blueprints/BP_Robot.uasset differ
diff --git a/Content/Levels/Main.umap b/Content/Levels/Main.umap
new file mode 100644
index 0000000..e0733bb
Binary files /dev/null and b/Content/Levels/Main.umap differ
diff --git a/Content/Materials/M_Effector.uasset b/Content/Materials/M_Effector.uasset
new file mode 100644
index 0000000..ff1cb81
Binary files /dev/null and b/Content/Materials/M_Effector.uasset differ
diff --git a/Content/Materials/M_Link.uasset b/Content/Materials/M_Link.uasset
new file mode 100644
index 0000000..273887f
Binary files /dev/null and b/Content/Materials/M_Link.uasset differ
diff --git a/PBDRobotics.uproject b/PBDRobotics.uproject
index 412174d..d739a2d 100644
--- a/PBDRobotics.uproject
+++ b/PBDRobotics.uproject
@@ -7,7 +7,10 @@
 		{
 			"Name": "PBDRobotics",
 			"Type": "Runtime",
-			"LoadingPhase": "Default"
+			"LoadingPhase": "Default",
+			"AdditionalDependencies": [
+				"Engine"
+			]
 		}
 	]
 }
\ No newline at end of file
diff --git a/Source/PBDRobotics/Link.cpp b/Source/PBDRobotics/Link.cpp
new file mode 100644
index 0000000..73f17d3
--- /dev/null
+++ b/Source/PBDRobotics/Link.cpp
@@ -0,0 +1,43 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "Link.h"
+
+#include <iostream>
+
+#include "Eigen/Dense"
+
+Eigen::Matrix3d ULink::GetMomentOfInertia() const {
+	const FVector FI = this->GetInertiaTensor();
+
+	// Inertial tensor of rotation
+	const Eigen::Vector3d I(FI.X, FI.Y, FI.Z);
+
+	// Moment of inertia
+	const Eigen::Matrix3d I0;// = R.transpose() * I * R;
+
+	return I0;
+}
+
+Eigen::Matrix3d ULink::GetRotationMatrix() const{
+	const FQuat fq = this->GetRelativeRotation().Quaternion();
+	const Eigen::Vector3d q(fq.X, fq.Y, fq.Z);
+	const double w = fq.W;
+	Eigen::Matrix3d q_hat;
+	q_hat << 0, -q.z(), q.y(),
+			 q.z(), 0, -q.x(),
+			 -q.y(), q.x(), 0;
+	const Eigen::Matrix3d R = (w * w - q.dot(q)) * Eigen::Matrix3d::Identity() + 2 * q * q.transpose() + 2 * w * q_hat;
+	return R;
+}
+
+void ULink::BeginPlay(){
+	const FVector t = this->GetInertiaTensor();
+	inertia_tensor = Eigen::Vector3d(t.X, t.Y, t.Z);
+	
+	const double M = this->CalculateMass();
+	Eigen::Vector3d v;
+	v << 3, 5, 7;
+	
+	UE_LOG(LogTemp, Log, TEXT("%f"), M);
+}
diff --git a/Source/PBDRobotics/Link.h b/Source/PBDRobotics/Link.h
new file mode 100644
index 0000000..3284333
--- /dev/null
+++ b/Source/PBDRobotics/Link.h
@@ -0,0 +1,34 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/StaticMeshComponent.h"
+#include "Eigen/Dense"
+#include "Link.generated.h"
+
+/**
+ * 
+ */
+UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
+class PBDROBOTICS_API ULink : public UStaticMeshComponent
+{
+	GENERATED_BODY()
+
+public:
+	Eigen::Vector3d CenterOfMass;
+	Eigen::Vector3d Position;
+	Eigen::Vector3d Velocity;
+	double Mass;
+	Eigen::Quaterniond Orientation;
+	Eigen::Vector3d AngleVelocity;
+	Eigen::Matrix3d Inertia;
+
+private:
+	Eigen::Vector3d inertia_tensor;
+	Eigen::Matrix3d GetMomentOfInertia() const;
+	Eigen::Matrix3d GetRotationMatrix() const;
+	
+protected:
+	virtual void BeginPlay() override;
+};
diff --git a/Source/PBDRobotics/Robot.cpp b/Source/PBDRobotics/Robot.cpp
new file mode 100644
index 0000000..55ff5b0
--- /dev/null
+++ b/Source/PBDRobotics/Robot.cpp
@@ -0,0 +1,27 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "Robot.h"
+
+// Sets default values
+ARobot::ARobot()
+{
+ 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+	PrimaryActorTick.bCanEverTick = true;
+
+}
+
+// Called when the game starts or when spawned
+void ARobot::BeginPlay()
+{
+	Super::BeginPlay();
+	
+}
+
+// Called every frame
+void ARobot::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+
+}
+
diff --git a/Source/PBDRobotics/Robot.h b/Source/PBDRobotics/Robot.h
new file mode 100644
index 0000000..758d741
--- /dev/null
+++ b/Source/PBDRobotics/Robot.h
@@ -0,0 +1,26 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "Robot.generated.h"
+
+UCLASS()
+class PBDROBOTICS_API ARobot : public AActor
+{
+	GENERATED_BODY()
+	
+public:	
+	// Sets default values for this actor's properties
+	ARobot();
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override;
+
+public:	
+	// Called every frame
+	virtual void Tick(float DeltaTime) override;
+
+};