diff --git a/simul/Cargo.lock b/simul/Cargo.lock
index bd24979..6f969ad 100644
--- a/simul/Cargo.lock
+++ b/simul/Cargo.lock
@@ -14,6 +14,33 @@ version = "2.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "843867be96c8daad0d758b57df9392b6d8d271134fce549de6ce169ff98a92af"
 
+[[package]]
+name = "csv"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52cd9d68cf7efc6ddfaaee42e7288d3a99d613d4b50f76ce9827ae0c6e14f938"
+dependencies = [
+ "csv-core",
+ "itoa",
+ "ryu",
+ "serde_core",
+]
+
+[[package]]
+name = "csv-core"
+version = "0.1.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "704a3c26996a80471189265814dbc2c257598b96b8a7feae2d31ace646bb9782"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "itoa"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+
 [[package]]
 name = "lazy_static"
 version = "1.5.0"
@@ -26,6 +53,12 @@ version = "0.2.184"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "48f5d2a454e16a5ea0f4ced81bd44e4cfc7bd3a507b61887c99fd3538b28e4af"
 
+[[package]]
+name = "memchr"
+version = "2.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -63,6 +96,12 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "ryu"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9774ba4a74de5f7b1c1451ed6cd5285a32eddb5cccb8cc655a4e50009e06477f"
+
 [[package]]
 name = "sdl3"
 version = "0.17.3"
@@ -135,8 +174,10 @@ dependencies = [
 name = "simul"
 version = "0.1.0"
 dependencies = [
+ "csv",
  "obj-rs",
  "sdl3",
+ "serde",
 ]
 
 [[package]]
diff --git a/simul/Cargo.toml b/simul/Cargo.toml
index b082c1a..f3129e6 100644
--- a/simul/Cargo.toml
+++ b/simul/Cargo.toml
@@ -4,5 +4,7 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
+csv = "1.4.0"
 obj-rs = "0.7.4"
 sdl3 = { version = "0.17.3", features = ["ttf", "image"] }
+serde = { version = "1.0.228", features = ["derive"] }
diff --git a/simul/inputs_moving.csv b/simul/assets/inputs_moving.csv
similarity index 100%
rename from simul/inputs_moving.csv
rename to simul/assets/inputs_moving.csv
diff --git a/simul/inputs_still.csv b/simul/assets/inputs_still.csv
similarity index 100%
rename from simul/inputs_still.csv
rename to simul/assets/inputs_still.csv
diff --git a/simul/assets/probe.mtl b/simul/assets/probe.mtl
new file mode 100644
index 0000000..31c5ac7
--- /dev/null
+++ b/simul/assets/probe.mtl
@@ -0,0 +1,12 @@
+# Blender 5.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/simul/assets/probe.obj b/simul/assets/probe.obj
new file mode 100644
index 0000000..46a6202
--- /dev/null
+++ b/simul/assets/probe.obj
@@ -0,0 +1,400 @@
+# Blender 5.1.0
+# www.blender.org
+mtllib probe.mtl
+o Cube
+v 1.000000 0.101130 -1.527883
+v 1.000000 -0.101130 -1.527883
+v 1.000000 0.101130 1.527883
+v 1.000000 -0.101130 1.527883
+v -1.000000 0.101130 -1.527883
+v -1.000000 -0.101130 -1.527883
+v -1.000000 0.101130 1.527883
+v -1.000000 -0.101130 1.527883
+v 0.008186 -0.628219 0.059172
+v 0.539580 -0.256799 0.412578
+v -0.194785 -0.256799 0.631000
+v -0.648653 -0.256796 0.059172
+v -0.194785 -0.256799 -0.512655
+v 0.539580 -0.256799 -0.294233
+v 0.211156 0.344187 0.631000
+v -0.523209 0.344187 0.412578
+v -0.523209 0.344187 -0.294233
+v 0.211156 0.344187 -0.512655
+v 0.665024 0.344184 0.059172
+v 0.008186 0.715607 0.059172
+v -0.111117 -0.527872 0.395282
+v 0.320529 -0.527872 0.266897
+v 0.201228 -0.309556 0.603010
+v 0.632875 -0.309555 0.059172
+v 0.320529 -0.527872 -0.148553
+v -0.377894 -0.527870 0.059172
+v -0.497199 -0.309555 0.395283
+v -0.111117 -0.527872 -0.276937
+v -0.497199 -0.309555 -0.276938
+v 0.201228 -0.309556 -0.484666
+v 0.706613 0.043694 0.266898
+v 0.706613 0.043694 -0.148554
+v 0.008186 0.043694 0.731397
+v 0.439837 0.043694 0.603014
+v -0.690242 0.043694 0.266898
+v -0.423466 0.043694 0.603014
+v -0.423466 0.043694 -0.484669
+v -0.690242 0.043694 -0.148554
+v 0.439837 0.043694 -0.484669
+v 0.008186 0.043694 -0.613053
+v 0.513570 0.396943 0.395283
+v -0.184857 0.396944 0.603010
+v -0.616504 0.396943 0.059172
+v -0.184857 0.396944 -0.484666
+v 0.513570 0.396943 -0.276938
+v 0.127488 0.615260 0.395282
+v 0.394265 0.615258 0.059172
+v -0.304158 0.615260 0.266897
+v -0.304158 0.615260 -0.148553
+v 0.127488 0.615260 -0.276937
+v -0.213092 0.101130 -0.296547
+v -0.174677 0.139545 -1.446611
+v 0.211278 0.101130 -0.296547
+v 0.172863 0.139545 -1.446611
+v 0.211278 0.397765 -0.296547
+v 0.121256 0.487787 -0.296547
+v 0.105344 0.449373 -1.446611
+v 0.172863 0.381853 -1.446611
+v -0.123065 0.487787 -0.296547
+v -0.213092 0.397760 -0.296547
+v -0.174677 0.381849 -1.446611
+v -0.107153 0.449373 -1.446611
+v 0.211278 0.101130 -1.446611
+v -0.213092 0.101130 -1.446611
+v 0.211278 0.397765 -1.446611
+v 0.121256 0.487787 -1.446611
+v -0.123065 0.487787 -1.446611
+v -0.213092 0.397760 -1.446611
+v -0.174677 0.139545 -0.777891
+v 0.172863 0.139545 -0.777891
+v 0.105344 0.449372 -0.777891
+v 0.172863 0.381853 -0.777891
+v -0.174677 0.381848 -0.777891
+v -0.107153 0.449372 -0.777891
+vn -0.0000 -0.0000 1.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 -1.0000 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn -0.0000 -0.0000 -1.0000
+vn 0.0938 -0.9444 0.3152
+vn 0.6679 -0.6898 0.2793
+vn -0.2467 -0.9491 0.1958
+vn -0.2467 -0.9491 -0.1958
+vn 0.0938 -0.9444 -0.3152
+vn 0.8895 -0.3549 0.2878
+vn 0.0227 -0.3305 0.9435
+vn -0.8722 -0.3540 0.3375
+vn -0.5406 -0.3397 -0.7696
+vn 0.5011 -0.3385 -0.7965
+vn 0.7763 -0.1328 0.6162
+vn -0.2828 -0.1267 0.9508
+vn -0.9906 -0.1371 -0.0000
+vn -0.2828 -0.1267 -0.9508
+vn 0.7763 -0.1328 -0.6162
+vn 0.3794 0.6710 0.6370
+vn -0.4393 0.6741 0.5938
+vn -0.6679 0.6898 -0.2793
+vn 0.0353 0.6620 -0.7487
+vn 0.6927 0.6919 -0.2035
+vn 0.2467 0.9491 -0.1958
+vn 0.4585 0.8108 -0.3639
+vn 0.3794 0.6710 -0.6370
+vn -0.0938 0.9444 -0.3152
+vn -0.1722 0.7971 -0.5788
+vn -0.4393 0.6741 -0.5938
+vn -0.3059 0.9521 -0.0000
+vn -0.5729 0.8196 -0.0000
+vn -0.6679 0.6898 0.2793
+vn -0.0938 0.9444 0.3152
+vn -0.1722 0.7971 0.5788
+vn 0.0353 0.6620 0.7487
+vn 0.2467 0.9491 0.1958
+vn 0.4585 0.8108 0.3639
+vn 0.6927 0.6919 0.2035
+vn 0.8722 0.3540 -0.3375
+vn 0.7677 0.1981 -0.6094
+vn 0.5406 0.3397 -0.7696
+vn -0.0227 0.3305 -0.9435
+vn -0.2799 0.1891 -0.9412
+vn -0.5011 0.3385 -0.7965
+vn -0.8895 0.3549 -0.2878
+vn -0.9789 0.2043 -0.0000
+vn -0.8895 0.3549 0.2878
+vn -0.5011 0.3385 0.7965
+vn -0.2799 0.1891 0.9412
+vn -0.0227 0.3305 0.9435
+vn 0.5406 0.3397 0.7696
+vn 0.7677 0.1981 0.6094
+vn 0.8722 0.3540 0.3375
+vn 0.2828 0.1267 -0.9508
+vn 0.2799 -0.1891 -0.9412
+vn 0.0227 -0.3305 -0.9435
+vn -0.7763 0.1328 -0.6162
+vn -0.7677 -0.1981 -0.6094
+vn -0.8722 -0.3540 -0.3375
+vn -0.7763 0.1328 0.6162
+vn -0.7677 -0.1981 0.6094
+vn -0.5406 -0.3397 0.7696
+vn 0.2828 0.1267 0.9508
+vn 0.2799 -0.1891 0.9412
+vn 0.5011 -0.3385 0.7965
+vn 0.9906 0.1371 -0.0000
+vn 0.9789 -0.2043 -0.0000
+vn 0.8895 -0.3549 -0.2878
+vn 0.4393 -0.6741 -0.5938
+vn 0.1722 -0.7971 -0.5788
+vn -0.0353 -0.6620 -0.7487
+vn -0.3794 -0.6710 -0.6370
+vn -0.4585 -0.8108 -0.3639
+vn -0.6927 -0.6919 -0.2035
+vn -0.6927 -0.6919 0.2035
+vn -0.4585 -0.8108 0.3639
+vn -0.3794 -0.6710 0.6370
+vn 0.6679 -0.6898 -0.2793
+vn 0.5729 -0.8196 -0.0000
+vn 0.3059 -0.9521 -0.0000
+vn -0.0353 -0.6620 0.7487
+vn 0.1722 -0.7971 0.5788
+vn 0.4393 -0.6741 0.5938
+vn 0.7071 0.7071 -0.0000
+vn -0.7071 0.7071 -0.0000
+vn -0.0000 1.0000 -0.0000
+vn 0.7071 -0.7071 -0.0000
+vn -0.7071 -0.7071 -0.0000
+vt 0.625000 0.750000
+vt 0.375000 1.000000
+vt 0.375000 0.750000
+vt 0.625000 0.000000
+vt 0.375000 0.250000
+vt 0.375000 0.000000
+vt 0.375000 0.500000
+vt 0.125000 0.750000
+vt 0.125000 0.500000
+vt 0.625000 0.500000
+vt 0.625000 0.250000
+vt 0.181819 0.000000
+vt 0.227273 0.078731
+vt 0.136365 0.078731
+vt 0.272728 0.157461
+vt 0.318182 0.078731
+vt 0.363637 0.157461
+vt 0.909091 0.000000
+vt 0.954545 0.078731
+vt 0.863636 0.078731
+vt 0.727273 0.000000
+vt 0.772727 0.078731
+vt 0.681818 0.078731
+vt 0.545455 0.000000
+vt 0.590909 0.078731
+vt 0.500000 0.078731
+vt 0.318182 0.236191
+vt 0.090910 0.157461
+vt 0.181819 0.157461
+vt 0.136365 0.236191
+vt 0.818182 0.157461
+vt 0.909091 0.157461
+vt 0.863636 0.236191
+vt 0.636364 0.157461
+vt 0.727273 0.157461
+vt 0.681818 0.236191
+vt 0.454546 0.157461
+vt 0.545455 0.157461
+vt 0.500000 0.236191
+vt 0.227273 0.236191
+vt 0.045455 0.236191
+vt 0.772727 0.236191
+vt 0.590909 0.236191
+vt 0.409092 0.236191
+vt 0.181819 0.314921
+vt 0.272728 0.314921
+vt 0.227273 0.393651
+vt 0.000000 0.314921
+vt 0.090910 0.314921
+vt 0.045455 0.393651
+vt 0.727273 0.314921
+vt 0.818182 0.314921
+vt 0.772727 0.393651
+vt 0.545455 0.314921
+vt 0.636364 0.314921
+vt 0.590909 0.393651
+vt 0.363637 0.314921
+vt 0.454546 0.314921
+vt 0.409092 0.393651
+vt 0.500000 0.393651
+vt 0.454546 0.472382
+vt 0.681818 0.393651
+vt 0.636364 0.472382
+vt 0.863636 0.393651
+vt 0.818182 0.472382
+vt 0.909091 0.314921
+vt 0.136365 0.393651
+vt 0.090910 0.472382
+vt 0.318182 0.393651
+vt 0.272728 0.472382
+vt 0.954545 0.236191
+vt 1.000000 0.157461
+vt 0.409092 0.078731
+vt 0.363637 0.000000
+vt 0.660355 0.767678
+vt 0.566795 0.500000
+vt 0.660355 0.482322
+vt 0.629760 0.281278
+vt 0.566791 0.000000
+vt 0.566795 0.750000
+vt 0.634520 0.937445
+vt 0.817204 0.495240
+vt 0.400254 0.272695
+vt 0.400354 0.477620
+vt 0.624889 0.460309
+vt 0.562059 0.482339
+vt 0.558015 0.270056
+vt 0.606124 0.300096
+vt 0.566792 0.250000
+vt 0.875000 0.750000
+vt 0.875000 0.500000
+vt 0.625000 1.000000
+vt 0.566791 1.000000
+vt 0.817204 0.754760
+s 0
+usemtl Material
+f 3/1/1 8/2/1 4/3/1
+f 7/4/2 6/5/2 8/6/2
+f 2/7/3 8/8/3 6/9/3
+f 1/10/4 4/3/4 2/7/4
+f 5/11/5 2/7/5 6/5/5
+f 9/12/6 22/13/6 21/14/6
+f 10/15/7 22/16/7 24/17/7
+f 9/18/8 21/19/8 26/20/8
+f 9/21/9 26/22/9 28/23/9
+f 9/24/10 28/25/10 25/26/10
+f 10/15/11 24/17/11 31/27/11
+f 11/28/12 23/29/12 33/30/12
+f 12/31/13 27/32/13 35/33/13
+f 13/34/14 29/35/14 37/36/14
+f 14/37/15 30/38/15 39/39/15
+f 10/15/16 31/27/16 34/40/16
+f 11/28/17 33/30/17 36/41/17
+f 12/31/18 35/33/18 38/42/18
+f 13/34/19 37/36/19 40/43/19
+f 14/37/20 39/39/20 32/44/20
+f 15/45/21 41/46/21 46/47/21
+f 16/48/22 42/49/22 48/50/22
+f 17/51/23 43/52/23 49/53/23
+f 18/54/24 44/55/24 50/56/24
+f 19/57/25 45/58/25 47/59/25
+f 47/59/26 50/60/26 20/61/26
+f 47/59/27 45/58/27 50/60/27
+f 45/58/28 18/54/28 50/60/28
+f 50/56/29 49/62/29 20/63/29
+f 50/56/30 44/55/30 49/62/30
+f 44/55/31 17/51/31 49/62/31
+f 49/53/32 48/64/32 20/65/32
+f 49/53/33 43/52/33 48/64/33
+f 43/52/34 16/66/34 48/64/34
+f 48/50/35 46/67/35 20/68/35
+f 48/50/36 42/49/36 46/67/36
+f 42/49/37 15/45/37 46/67/37
+f 46/47/38 47/69/38 20/70/38
+f 46/47/39 41/46/39 47/69/39
+f 41/46/40 19/57/40 47/69/40
+f 32/44/41 45/58/41 19/57/41
+f 32/44/42 39/39/42 45/58/42
+f 39/39/43 18/54/43 45/58/43
+f 40/43/44 44/55/44 18/54/44
+f 40/43/45 37/36/45 44/55/45
+f 37/36/46 17/51/46 44/55/46
+f 38/42/47 43/52/47 17/51/47
+f 38/42/48 35/33/48 43/52/48
+f 35/33/49 16/66/49 43/52/49
+f 36/41/50 42/49/50 16/48/50
+f 36/41/51 33/30/51 42/49/51
+f 33/30/52 15/45/52 42/49/52
+f 34/40/53 41/46/53 15/45/53
+f 34/40/54 31/27/54 41/46/54
+f 31/27/55 19/57/55 41/46/55
+f 39/39/56 40/43/56 18/54/56
+f 39/39/57 30/38/57 40/43/57
+f 30/38/58 13/34/58 40/43/58
+f 37/36/59 38/42/59 17/51/59
+f 37/36/60 29/35/60 38/42/60
+f 29/35/61 12/31/61 38/42/61
+f 35/33/62 36/71/62 16/66/62
+f 35/33/63 27/32/63 36/71/63
+f 27/32/64 11/72/64 36/71/64
+f 33/30/65 34/40/65 15/45/65
+f 33/30/66 23/29/66 34/40/66
+f 23/29/67 10/15/67 34/40/67
+f 31/27/68 32/44/68 19/57/68
+f 31/27/69 24/17/69 32/44/69
+f 24/17/70 14/37/70 32/44/70
+f 25/26/71 30/38/71 14/37/71
+f 25/26/72 28/25/72 30/38/72
+f 28/25/73 13/34/73 30/38/73
+f 28/23/74 29/35/74 13/34/74
+f 28/23/75 26/22/75 29/35/75
+f 26/22/76 12/31/76 29/35/76
+f 26/20/77 27/32/77 12/31/77
+f 26/20/78 21/19/78 27/32/78
+f 21/19/79 11/72/79 27/32/79
+f 24/17/80 25/73/80 14/37/80
+f 24/17/81 22/16/81 25/73/81
+f 22/16/82 9/74/82 25/73/82
+f 21/14/83 23/29/83 11/28/83
+f 21/14/84 22/13/84 23/29/84
+f 22/13/85 10/15/85 23/29/85
+f 63/7/3 51/8/3 64/9/3
+f 56/75/86 65/76/86 66/77/86
+f 65/76/4 53/3/4 63/7/4
+f 67/78/87 60/79/87 59/4/87
+f 55/80/1 59/81/1 51/2/1
+f 60/79/2 64/5/2 51/6/2
+f 67/82/88 56/75/88 66/77/88
+f 52/83/88 70/84/88 54/84/88
+f 54/84/5 64/5/5 52/83/5
+f 57/85/5 65/76/5 58/86/5
+f 54/84/5 65/76/5 63/7/5
+f 61/87/5 67/78/5 62/88/5
+f 52/83/5 68/89/5 61/87/5
+f 62/88/5 66/77/5 57/85/5
+f 73/87/5 71/85/5 70/84/5
+f 57/85/3 74/88/3 62/88/3
+f 61/87/89 74/88/89 73/87/89
+f 57/85/90 72/86/90 71/85/90
+f 52/83/4 73/87/4 69/83/4
+f 54/84/2 72/86/2 58/86/2
+f 7/90/88 1/10/88 5/91/88
+f 3/1/1 7/92/1 8/2/1
+f 7/4/2 5/11/2 6/5/2
+f 2/7/3 4/3/3 8/8/3
+f 1/10/4 3/1/4 4/3/4
+f 5/11/5 1/10/5 2/7/5
+f 63/7/3 53/3/3 51/8/3
+f 56/75/86 55/80/86 65/76/86
+f 65/76/4 55/80/4 53/3/4
+f 67/78/87 68/89/87 60/79/87
+f 51/2/1 53/3/1 55/80/1
+f 55/80/1 56/75/1 59/81/1
+f 59/81/1 60/93/1 51/2/1
+f 60/79/2 68/89/2 64/5/2
+f 67/82/88 59/94/88 56/75/88
+f 52/83/88 69/83/88 70/84/88
+f 54/84/5 63/7/5 64/5/5
+f 57/85/5 66/77/5 65/76/5
+f 54/84/5 58/86/5 65/76/5
+f 61/87/5 68/89/5 67/78/5
+f 52/83/5 64/5/5 68/89/5
+f 62/88/5 67/78/5 66/77/5
+f 70/84/5 69/83/5 73/87/5
+f 73/87/5 74/88/5 71/85/5
+f 71/85/5 72/86/5 70/84/5
+f 57/85/3 71/85/3 74/88/3
+f 61/87/89 62/88/89 74/88/89
+f 57/85/90 58/86/90 72/86/90
+f 52/83/4 61/87/4 73/87/4
+f 54/84/2 70/84/2 72/86/2
+f 7/90/88 3/1/88 1/10/88
diff --git a/simul/src/main.rs b/simul/src/main.rs
index 1fb4c84..64c033f 100644
--- a/simul/src/main.rs
+++ b/simul/src/main.rs
@@ -1,8 +1,8 @@
 #![allow(unused)]
 
-use std::{collections::HashMap, f64::consts::PI, fs::File, io::BufReader};
-
 use obj::{Obj, load_obj};
+use serde::Deserialize;
+use std::{collections::HashMap, f64::consts::PI, fs::File, io::BufReader};
 
 use crate::{
     m3x3::M3x3,
@@ -65,38 +65,31 @@ impl App {
 
 impl<R: Renderer> window::App<R> for App {
     fn update(&mut self, delta_time: std::time::Duration) {
-        self.rot.0 += PI * 2.0 * delta_time.as_secs_f64() * 0.1;
-        self.rot.1 += PI * 2.0 * delta_time.as_secs_f64() * 0.1;
-        self.rot.2 += PI * 2.0 * delta_time.as_secs_f64() * 0.1;
+        self.rot.0 += PI * 2.0 * delta_time.as_secs_f64() * 0.2;
+        self.rot.1 += PI * 2.0 * delta_time.as_secs_f64() * 0.2;
+        // self.rot.2 += PI * 2.0 * delta_time.as_secs_f64() * 0.2;
     }
 
     fn render(&self, r: &mut R) {
         let mut scene = Scene::new();
 
-        let mut model1 = Model::new();
-        model1
-            .add_tri(
-                Tri3(V3(0.0, 0.0, 0.0), V3(0.3, 0.3, 0.0), V3(0.3, 0.0, 0.0)),
-                Color::RGB(125, 165, 165),
-            )
-            .rotate_by_m3x3(M3x3::from_v3_rot(self.rot))
-            .translate(V3(1.0, 0.0, 1.0))
-            .scale(V3(1.0, 1.0, 1.0));
-
-        scene.draw_model(model1);
-
-        let mut model2 = Model::new();
-
+        let mut cube = Model::new();
         let cube_obj = self.assets.get("assets/cube.obj").unwrap();
-        model2
-            .add_obj(&cube_obj, Color::RGB(165, 125, 165))
+        cube.add_obj(&cube_obj, Color::RGB(165, 125, 165))
+            .rotate_by_m3x3(M3x3::from_v3_rot(self.rot))
+            .scale(V3(0.4, 0.4, 0.4))
+            .translate(V3(0.0, 0.0, 1.0));
+        scene.draw_model(cube);
+
+        let mut probe = Model::new();
+        let probe_obj = self.assets.get("assets/probe.obj").unwrap();
+        probe
+            .add_obj(&probe_obj, Color::RGB(165, 125, 165))
+            .rotate_by_m3x3(M3x3::new_rotate_x(PI))
             .rotate_by_m3x3(M3x3::from_v3_rot(self.rot))
             .scale(V3(0.2, 0.2, 0.2))
-            .translate(V3(0.0, -0.2, 1.0));
-
-        scene.draw_model(model2);
-
-        // scene.draw_obj(&cube_obj, V3(0.1, 0.1, 0.1), Color::RGB(125, 125, 125));
+            .translate(V3(1.2, 0.0, 1.0));
+        scene.draw_model(probe);
 
         scene.render(
             r,
@@ -104,17 +97,33 @@ impl<R: Renderer> window::App<R> for App {
             M3x3::from_v3_rot(V3(0.0, 0.0, 0.0)),
             V3(0.0, 0.0, 0.0),
         );
-
-        // r.draw_line(V2(0.0, 0.0), V2(0.6, 0.2), Color::RED);
     }
 
     fn event(&mut self, event: Event) {}
 }
 
+#[derive(Debug, Deserialize)]
+struct Measurement {
+    time_delta_us: i64,
+    accel_x: f64,
+    accel_y: f64,
+    accel_z: f64,
+    rotation_x: f64,
+    rotation_y: f64,
+    rotation_z: f64,
+}
+
 fn main() {
     let mut window = Window::new();
     let mut app = App::new();
     app.assets.load("assets/cube.obj");
+    app.assets.load("assets/probe.obj");
+
+    let mut reader = csv::Reader::from_path("assets/inputs_still.csv").unwrap();
+    for entry in reader.deserialize::<Measurement>() {
+        let entry: Measurement = entry.unwrap();
+        // println!("{:?}", entry);
+    }
 
     window.run(&mut app);
 }
diff --git a/simul/src/scene.rs b/simul/src/scene.rs
index da9cc11..811cf77 100644
--- a/simul/src/scene.rs
+++ b/simul/src/scene.rs
@@ -1,3 +1,5 @@
+use std::f64::consts::PI;
+
 use obj::Obj;
 
 use crate::{
@@ -48,12 +50,24 @@ impl Scene {
                 continue;
             }
 
+            let light = V3(1.0, 1.0, -1.0);
+
+            let exposure = 1.5 - normal.angle(light) / PI;
+
+            let (red, green, blue) = color.rgb();
+
+            let color = Color::RGB(
+                (red as f64 * exposure).clamp(0.0, 255.0) as _,
+                (green as f64 * exposure).clamp(0.0, 255.0) as _,
+                (blue as f64 * exposure).clamp(0.0, 255.0) as _,
+            );
+
             let tri2 = tri3.project_2d(camera_pos, camera_rot, screen_rel_pos);
 
-            r.draw_triangles(&[tri2], *color);
-            r.draw_line(tri2.0, tri2.1, Color::BLACK);
-            r.draw_line(tri2.1, tri2.2, Color::BLACK);
-            r.draw_line(tri2.2, tri2.0, Color::BLACK);
+            r.draw_triangles(&[tri2], color);
+            // r.draw_line(tri2.0, tri2.1, Color::BLACK);
+            // r.draw_line(tri2.1, tri2.2, Color::BLACK);
+            // r.draw_line(tri2.2, tri2.0, Color::BLACK);
         }
     }
 
diff --git a/simul/src/v3.rs b/simul/src/v3.rs
index 92d48f3..1f45ae5 100644
--- a/simul/src/v3.rs
+++ b/simul/src/v3.rs
@@ -1,6 +1,5 @@
-use std::ops::{Add, Div, Mul, Neg, Sub};
-
 use crate::{m3x3::M3x3, v2::V2};
+use std::ops::{Add, Div, Mul, Neg, Sub};
 
 #[derive(Clone, Copy, Debug)]
 pub struct V3(pub f64, pub f64, pub f64);
@@ -59,6 +58,10 @@ impl V3 {
         V2(e.2 / d.2 * d.0 + e.0, e.2 / d.2 * d.1 + e.1)
     }
 
+    pub fn angle(&self, rhs: Self) -> f64 {
+        (self.dot(rhs) / (self.len() * rhs.len())).acos()
+    }
+
     pub fn dot(&self, rhs: Self) -> f64 {
         self.zip(rhs, |a, b| a * b).reduce(0.0, |acc, v| acc + v)
     }