diff --git a/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset b/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset
index 68616f5b..d9239fe8 100644
Binary files a/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset and b/Content/Blueprint/RobotPawnActors/BP_mujokoSO_100.uasset differ
diff --git a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
index 1ee82e60..173d3bab 100644
--- a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
+++ b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp
@@ -25,9 +25,9 @@ void URobotPilotComponent::TickComponent(float DeltaTime, enum ELevelTick TickTy
 
 void URobotPilotComponent::InitPilotComponent()
 {
-	if (RobotOwner.Get() && RobotOwner->PhysicSceneProxy.Get())
+	if (RobotOwner.Get() && RobotOwner->PhysicsSceneProxy.Get())
 	{
-		RobotOwner->PhysicSceneProxy->BindPostPhysicStepDelegate(this, &URobotPilotComponent::PostPhysicStepUpdate);
+		RobotOwner->PhysicsSceneProxy->BindPostPhysicStepDelegate(this, &URobotPilotComponent::PostPhysicStepUpdate);
 	}
 }
 
diff --git a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
index f62fbf7c..dc1357ca 100644
--- a/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
+++ b/Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp
@@ -21,7 +21,7 @@ void URobotPilotSO100Component::TickComponent(float DeltaTime, enum ELevelTick T
 	FActorComponentTickFunction* ThisTickFunction)
 {
 	// Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
-	// const auto Joints = GetCurrentJointsFromPhysicScene();
+	// const auto Joints = GetCurrentJointsFromPhysicsScene();
 	// const auto Controls = GetCurrentControlsFromPhysicScene();
 	// UE_LOG(LogTemp, Log, TEXT("Joint: %f - Control: %f - Delta: %f"), Joints.Jaw, Controls.Jaw, Controls.Jaw - Joints.Jaw);
 }
@@ -59,31 +59,46 @@ void URobotPilotSO100Component::DisableAnim()
 	AnimationStartTime = 0;
 }
 
+void URobotPilotSO100Component::DebugUpdatePos()
+{
+	const int JointId = RobotOwner->PhysicsSceneProxy->GetJointId("MujocoBody_6"); 
+	auto MjData = RobotOwner->PhysicsSceneProxy->GetMujocoData();
+	auto MjModel = RobotOwner->PhysicsSceneProxy->GetMujocoModel();
+	// mj_name2id(MjModel, mjOBJ_JOINT, "");
+	
+	if (JointId)
+	{
+		auto adx = MjModel.jnt_qposadr[JointId];
+		mjtNum* body_pos = MjData.xpos + 3 * JointId;
+		UE_LOG(LogTemp, Log, TEXT("JointId %i - pos.x %f - pos.y %f - pos.z %f"), JointId, body_pos[0], body_pos[1], body_pos[2]);
+	}
+}
+
 FSo100Actuators URobotPilotSO100Component::GetCurrentControlsFromPhysicScene() const
 {
 	return FSo100Actuators
 	{
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_Rotation),
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_Pitch),
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_Elbow),
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_WristPitch),
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_WristRoll),
-		RobotOwner->PhysicSceneProxy->GetActuatorValue(Actuator_Jaw),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_Rotation),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_Pitch),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_Elbow),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_WristPitch),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_WristRoll),
+		RobotOwner->PhysicsSceneProxy->GetActuatorValue(Actuator_Jaw),
 	};
 }
 
-FSo100Actuators URobotPilotSO100Component::GetCurrentJointsFromPhysicScene() const
+FSo100Actuators URobotPilotSO100Component::GetCurrentJointsFromPhysicsScene() const
 {
 	// Due to Mujoco import plugin not renaming joint differently from controller and Unreal refusing to have 2 variables with the same name
 	// Joints get a "1" appended to their name -> refacto so it's "_Joint"
 	return FSo100Actuators
 	{
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_Rotation).Append("1")),
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_Pitch).Append("1")),
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_Elbow).Append("1")),
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_WristPitch).Append("1")),
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_WristRoll).Append("1")),
-		RobotOwner->PhysicSceneProxy->GetJointValue(FString(Actuator_Jaw).Append("1"))
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_Rotation).Append("1")),
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_Pitch).Append("1")),
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_Elbow).Append("1")),
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_WristPitch).Append("1")),
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_WristRoll).Append("1")),
+		RobotOwner->PhysicsSceneProxy->GetJointValue(FString(Actuator_Jaw).Append("1"))
 	};
 }
 
@@ -103,8 +118,8 @@ float URobotPilotSO100Component::GetDeltaSumBetweenActuatorValues(const FSo100Ac
 
 double URobotPilotSO100Component::GetControlJointDeltaForActuator(FString ActuatorName) const
 {
-	auto const Control = RobotOwner->PhysicSceneProxy->GetActuatorValue(ActuatorName);
-	auto const Joint = RobotOwner->PhysicSceneProxy->GetJointValue(ActuatorName.Append("1"));
+	auto const Control = RobotOwner->PhysicsSceneProxy->GetActuatorValue(ActuatorName);
+	auto const Joint = RobotOwner->PhysicsSceneProxy->GetJointValue(ActuatorName.Append("1"));
 	return Control -Joint;
 }
 
@@ -143,9 +158,9 @@ void URobotPilotSO100Component::PostPhysicStepUpdate(const float SimulationTime)
 
 void URobotPilotSO100Component::NextAnimationState()
 {
-	const float CurrentSimulationTime = RobotOwner->PhysicSceneProxy->GetMujocoData().time;
-	AnimationStartTime = CurrentSimulationTime;
-	AnimStartRobotActuators = GetCurrentJointsFromPhysicScene();
+	const float CurrentPhysicsEngineSceneTime = RobotOwner->PhysicsSceneProxy->GetMujocoData().time;
+	AnimationStartTime = CurrentPhysicsEngineSceneTime;
+	AnimStartRobotActuators = GetCurrentJointsFromPhysicsScene();
 
 	switch (CurrentAnimationState)
 	{
@@ -226,7 +241,7 @@ void URobotPilotSO100Component::MoveToTarget()
 	const auto AlphaExtend = FMath::Clamp(Distance / MaxReach, 0., 1.);
 	
 	// Set the target actuators values 
-	AnimTargetRobotActuators = GetCurrentJointsFromPhysicScene();
+	AnimTargetRobotActuators = GetCurrentJointsFromPhysicsScene();
 	AnimTargetRobotActuators = LerpActuators(ActuatorsRestPosition, ActuatorsMaxExtendPosition, AlphaExtend);
 
 	
@@ -268,7 +283,7 @@ void URobotPilotSO100Component::MoveToDropZone()
 
 	AnimTargetRobotActuators = ActuatorsDropZone;
 	AnimTargetRobotActuators.Rotation = ActuatorsDropZone.Rotation * (FMath::RandBool() ? 1. : -1.); 
-	AnimTargetRobotActuators.Jaw = GetCurrentJointsFromPhysicScene().Jaw;
+	AnimTargetRobotActuators.Jaw = GetCurrentJointsFromPhysicsScene().Jaw;
 	CurrentAnimationState = 4;
 	AnimationDuration = 3.f;
 }
@@ -287,7 +302,7 @@ bool URobotPilotSO100Component::AnimateActuators(const float SimulationTime)
 	const double AnimAlpha = FMath::Clamp((SimulationTime - AnimationStartTime) / AnimationDuration, 0., 1.);
 
 	// Need to wait for the joints to be in the right position before switching to next animation
-	const auto DeltaSum = GetDeltaSumBetweenActuatorValues(AnimTargetRobotActuators, GetCurrentJointsFromPhysicScene());
+	const auto DeltaSum = GetDeltaSumBetweenActuatorValues(AnimTargetRobotActuators, GetCurrentJointsFromPhysicsScene());
 
 	// Alternative Animation completion event - checking for over-current
 	if (bDetectOverCurrent && GetControlJointDeltaForActuator(Actuator_Jaw) > OverCurrentThreshold)
@@ -303,42 +318,42 @@ bool URobotPilotSO100Component::AnimateActuators(const float SimulationTime)
 	if (AnimAlpha >= 1. && DeltaSum <= .001) return true;
 
 	// Rotation
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_Rotation, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_Rotation, FMath::Lerp(
 		AnimStartRobotActuators.Rotation,
 		AnimTargetRobotActuators.Rotation,
 		AnimAlpha
 	));
 
 	// Pitch
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_Pitch, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_Pitch, FMath::Lerp(
 		AnimStartRobotActuators.Pitch,
 		AnimTargetRobotActuators.Pitch,
 		AnimAlpha
 	));
 
 	// Elbow
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_Elbow, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_Elbow, FMath::Lerp(
 		AnimStartRobotActuators.Elbow,
 		AnimTargetRobotActuators.Elbow,
 		AnimAlpha
 	));
 		
 	// WristPitch
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_WristPitch, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_WristPitch, FMath::Lerp(
 		AnimStartRobotActuators.WristPitch,
 		AnimTargetRobotActuators.WristPitch,
 		AnimAlpha
 	));
 
 	// WristRoll
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_WristRoll, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_WristRoll, FMath::Lerp(
 		AnimStartRobotActuators.WristRoll,
 		AnimTargetRobotActuators.WristRoll,
 		AnimAlpha
 	));
 
 	// Jaw
-	RobotOwner->PhysicSceneProxy->SetActuatorValue(Actuator_Jaw, FMath::Lerp(
+	RobotOwner->PhysicsSceneProxy->SetActuatorValue(Actuator_Jaw, FMath::Lerp(
 		AnimStartRobotActuators.Jaw,
 		AnimTargetRobotActuators.Jaw,
 		AnimAlpha
diff --git a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
index 767b6fbc..6e325e23 100644
--- a/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
+++ b/Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h
@@ -52,6 +52,9 @@ public:
 
 	UFUNCTION(BlueprintCallable)
 	void DisableAnim();
+
+	UFUNCTION(BlueprintCallable)
+	void DebugUpdatePos();
 	
 private:
 	// SO100 Controls by name
@@ -76,7 +79,7 @@ private:
 	 * @return 
 	 */
 	FSo100Actuators GetCurrentControlsFromPhysicScene() const;
-	FSo100Actuators GetCurrentJointsFromPhysicScene() const;
+	FSo100Actuators GetCurrentJointsFromPhysicsScene() const;
 	double GetControlJointDeltaForActuator(FString ActuatorName) const;
 	static float GetDeltaSumBetweenActuatorValues(const FSo100Actuators& A, const FSo100Actuators& B);
 	static FSo100Actuators LerpActuators(const FSo100Actuators& A, const FSo100Actuators& B, const float Alpha); 
diff --git a/Source/LuckyWorldV2/Public/Robot/RobotPawn.h b/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
index 45ed1c72..80b5177f 100644
--- a/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
+++ b/Source/LuckyWorldV2/Public/Robot/RobotPawn.h
@@ -25,7 +25,7 @@ public:
 	ERobotsName RobotType = ERobotsName::None; // This value must be set in the pawn
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite) // TODO Remove UPROPERTY once we migrate physics proxy initialization from Pawn
-	TObjectPtr<AMujocoVolumeActor> PhysicSceneProxy;
+	TObjectPtr<AMujocoVolumeActor> PhysicsSceneProxy;
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite) // TODO Remove UPROPERTY once we migrate physics proxy initialization from Pawn
 	TObjectPtr<AActor> RobotActor; // My brain is bleeding facing the fact that we have 2 actors...