diff --git a/Config/DefaultInput.ini b/Config/DefaultInput.ini
index 2c84863..8fbb21d 100644
--- a/Config/DefaultInput.ini
+++ b/Config/DefaultInput.ini
@@ -78,6 +78,15 @@ DefaultViewportMouseLockMode=LockOnCapture
 FOVScale=0.011110
 DoubleClickTime=0.200000
 +ActionMappings=(ActionName="ToggleGravity",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=G)
++ActionMappings=(ActionName="ToggleController",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=C)
++ActionMappings=(ActionName="ToggleShowTarget",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=V)
++ActionMappings=(ActionName="ToggleFollowTarget",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=F)
++AxisMappings=(AxisName="MoveHorizontal",Scale=-1.000000,Key=A)
++AxisMappings=(AxisName="MoveHorizontal",Scale=1.000000,Key=D)
++AxisMappings=(AxisName="MoveVertical",Scale=1.000000,Key=Q)
++AxisMappings=(AxisName="MoveVertical",Scale=-1.000000,Key=E)
++AxisMappings=(AxisName="MoveDepth",Scale=1.000000,Key=W)
++AxisMappings=(AxisName="MoveDepth",Scale=-1.000000,Key=S)
 DefaultPlayerInputClass=/Script/Engine.PlayerInput
 DefaultInputComponentClass=/Script/Engine.InputComponent
 DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks
diff --git a/Content/BP_Gamemode.uasset b/Content/BP_Gamemode.uasset
new file mode 100644
index 0000000..c4db56d
Binary files /dev/null and b/Content/BP_Gamemode.uasset differ
diff --git a/Content/Blueprints/BP_Puma.uasset b/Content/Blueprints/BP_Puma.uasset
index 5ae8bc2..8e8ca69 100644
Binary files a/Content/Blueprints/BP_Puma.uasset and b/Content/Blueprints/BP_Puma.uasset differ
diff --git a/Content/Blueprints/BP_Robot.uasset b/Content/Blueprints/BP_Robot.uasset
index 1352802..0a262c8 100644
Binary files a/Content/Blueprints/BP_Robot.uasset and b/Content/Blueprints/BP_Robot.uasset differ
diff --git a/Content/Blueprints/BP_Target.uasset b/Content/Blueprints/BP_Target.uasset
new file mode 100644
index 0000000..8b232da
Binary files /dev/null and b/Content/Blueprints/BP_Target.uasset differ
diff --git a/Content/Levels/Main.umap b/Content/Levels/Main.umap
index ff01d27..532bc84 100644
Binary files a/Content/Levels/Main.umap and b/Content/Levels/Main.umap differ
diff --git a/Source/PBDRobotics/Robot.cpp b/Source/PBDRobotics/Robot.cpp
index 555867e..f03bc1a 100644
--- a/Source/PBDRobotics/Robot.cpp
+++ b/Source/PBDRobotics/Robot.cpp
@@ -62,3 +62,10 @@ void ARobot::Tick(const float DeltaTime){
 	for (auto* Link : Links)
 		Link->UpdateInternalTransform();
 }
+
+ULink* ARobot::GetEffector() const{
+	for (auto* Link : Links)
+		if (Link->IsEffector)
+			return Link;
+	return nullptr;
+}
diff --git a/Source/PBDRobotics/Robot.h b/Source/PBDRobotics/Robot.h
index 9abf5c9..436f392 100644
--- a/Source/PBDRobotics/Robot.h
+++ b/Source/PBDRobotics/Robot.h
@@ -32,6 +32,9 @@ protected:
 	UPROPERTY(BlueprintReadWrite)
 	FVector EffectorMove = FVector::ZeroVector;
 
+	UFUNCTION(BlueprintCallable)
+	ULink* GetEffector() const;
+
 private:
 	// Assumes First Link to have Identity Orientation and Joints Array to be in order
 	void ResetPositionAndOrientation();