diff --git a/Root.tscn b/Root.tscn
index 2b2de5b..7b125c8 100644
--- a/Root.tscn
+++ b/Root.tscn
@@ -1,15 +1,12 @@
-[gd_scene load_steps=3 format=3 uid="uid://bj5ykdjle10tt"]
+[gd_scene load_steps=2 format=3 uid="uid://bj5ykdjle10tt"]
 
-[ext_resource type="Script" uid="uid://vnywsf0rn1ax" path="res://SocketClient.gd" id="1_gxo8o"]
 [ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://VRPN.gd" id="2_24d08"]
 
 [node name="Node3D" type="Node3D"]
-script = ExtResource("1_gxo8o")
 
 [node name="VRPN" type="Node3D" parent="."]
 script = ExtResource("2_24d08")
 
-[connection signal="connected" from="." to="." method="_on_connected"]
-[connection signal="data" from="." to="." method="_on_data"]
-[connection signal="disconnected" from="." to="." method="_on_disconnected"]
-[connection signal="error" from="." to="." method="_on_error"]
+[node name="RB1" type="Node3D" parent="VRPN"]
+
+[node name="RB2" type="Node3D" parent="VRPN"]
diff --git a/SocketClient.gd b/SocketClient.gd
deleted file mode 100644
index 92f3ea3..0000000
--- a/SocketClient.gd
+++ /dev/null
@@ -1,85 +0,0 @@
-extends Node
-
-signal connected(s:StreamPeerTCP)
-signal data(data:Array)
-signal disconnected
-signal error
-
-# Graphics Interaction Lab OptiTrack system @212.201.64.122
-
-@onready var _stream: StreamPeerTCP = StreamPeerTCP.new()
-
-@export var vrpn_server : String = "127.0.0.1"
-@export var vrpn_port : int = 3883
-
-var session : VRPN.Session = VRPN.Session.new()
-
-func _ready() -> void:
-	self.connect_to_host(vrpn_server,vrpn_port)
-
-func _process(delta: float) -> void:
-	var old_status = _stream.get_status()
-	_stream.poll()
-	var new_status = _stream.get_status()
-	if old_status != new_status:
-		match new_status:
-			_stream.STATUS_NONE:
-				emit_signal("disconnected")
-			_stream.STATUS_CONNECTING:
-				print("Connecting.")
-			_stream.STATUS_CONNECTED:
-				print("Connected.")
-				emit_signal("connected",_stream.poll()
-)
-			_stream.STATUS_ERROR:
-				print("Error with socket stream.")
-				emit_signal("error")
-
-	if new_status == _stream.STATUS_CONNECTED:
-		var available_bytes: int = _stream.get_available_bytes()
-		if available_bytes > 0:
-			var res = _stream.get_partial_data(available_bytes)
-			if res[0] != OK:
-				emit_signal("error")
-			else:
-				emit_signal("data", res[1])
-
-func connect_to_host(host: String, port: int) -> void:
-	print("Connecting to %s:%d" % [host, port])
-	if _stream.connect_to_host(host, port) != OK:
-		print("Error connecting to host.")
-		emit_signal("error")
-
-func send(data: PackedByteArray) -> bool:
-	if _stream.get_status() != _stream.STATUS_CONNECTED:
-		print("Error: Stream is not currently connected.")
-		return false
-	var error: int = _stream.put_data(data)
-	if error != OK:
-		print("Error writing to stream: ", error)
-		return false
-	return true
-	
-
-func _on_data(data : Array):
-	var bytes = PackedByteArray(data)
-	var as_cookie = bytes.get_string_from_ascii()
-	
-	# Cookie Hack!
-	if as_cookie.begins_with(VRPN.magic_cookie_start): # 
-		# kaboom we just send back the same cookie :) 
-		self.send(bytes)
-	else:
-		VRPN.marshall_block(bytes,session)
-
-
-			
-func _on_connected(s : StreamPeerTCP):
-	print("Connected to",s.get_connected_host()) # Replace with function body.
-	
-func _on_disconnected():
-	print("Disconnected") # Replace with function body.
-
-func _on_error():
-	print("Error") # Replace with function body.
-	
diff --git a/SocketClient.gd.uid b/SocketClient.gd.uid
deleted file mode 100644
index 2e69597..0000000
--- a/SocketClient.gd.uid
+++ /dev/null
@@ -1 +0,0 @@
-uid://vnywsf0rn1ax
diff --git a/VRPN.gd b/VRPN.gd
index fcc0de2..5262e89 100644
--- a/VRPN.gd
+++ b/VRPN.gd
@@ -1,24 +1,117 @@
 extends Node
 class_name VRPN
 
-enum TrackingData { POS_QUAT, VELOCITY }
+# tracking associated data
+enum TrackingData { POS_QUAT, VELOCITY, ACCELERATION }
 
+# magic cookie
 const magic_cookie_start : String = "vrpn: ver."
+# kinda redundant as we take the seq number as well
+static var header_size : int = aligned_size(20)
 
-class Session:
-	var sensors : Dictionary[int,String] = {}
-	var messages : Dictionary[int,String] = {}
-	func _init():
-		pass
 
-@export
+var sensors : Dictionary[int,String] = {}
+var messages : Dictionary[int,String] = {}
 
-static func marshall_block(data : PackedByteArray,session : Session) -> void:
+signal connected(s:StreamPeerTCP)
+signal data(data:Array)
+signal disconnected
+signal error
+
+@export var tracker_targets : Dictionary[String,Node3D] = {}
+
+
+# Graphics Interaction Lab OptiTrack system @212.201.64.122
+
+@onready var _stream: StreamPeerTCP = StreamPeerTCP.new()
+
+@export var vrpn_server : String = "127.0.0.1"
+@export var vrpn_port : int = 3883
+
+func _ready() -> void:
+	
+	self.connect_to_host(vrpn_server,vrpn_port)
+	
+	if not connected.has_connections():
+		connected.connect(self._on_connected)
+	if not data.has_connections():
+		data.connect(self._on_data)
+	if not disconnected.has_connections():
+		disconnected.connect(self._on_disconnected)
+	if not error.has_connections():
+		error.connect(self._on_error)
+
+func _process(delta: float) -> void:
+	var old_status = _stream.get_status()
+	_stream.poll()
+	var new_status = _stream.get_status()
+	if old_status != new_status:
+		match new_status:
+			_stream.STATUS_NONE:
+				emit_signal("disconnected")
+			_stream.STATUS_CONNECTING:
+				print("Connecting.")
+			_stream.STATUS_CONNECTED:
+				print("Connected.")
+				emit_signal("connected",_stream.poll()
+)
+			_stream.STATUS_ERROR:
+				print("Error with socket stream.")
+				emit_signal("error")
+
+	if new_status == _stream.STATUS_CONNECTED:
+		var available_bytes: int = _stream.get_available_bytes()
+		if available_bytes > 0:
+			var res = _stream.get_partial_data(available_bytes)
+			if res[0] != OK:
+				emit_signal("error")
+			else:
+				emit_signal("data", res[1])
+
+func connect_to_host(host: String, port: int) -> void:
+	print("Connecting to %s:%d" % [host, port])
+	if _stream.connect_to_host(host, port) != OK:
+		print("Error connecting to host.")
+		emit_signal("error")
+
+func send(data: PackedByteArray) -> bool:
+	if _stream.get_status() != _stream.STATUS_CONNECTED:
+		print("Error: Stream is not currently connected.")
+		return false
+	var error: int = _stream.put_data(data)
+	if error != OK:
+		print("Error writing to stream: ", error)
+		return false
+	return true
+	
+
+func _on_data(data : Array):
+	var bytes = PackedByteArray(data)
+	var as_cookie = bytes.get_string_from_ascii()
+	
+	# Cookie Hack!
+	if as_cookie.begins_with(VRPN.magic_cookie_start): # 
+		# kaboom we just send back the same cookie :) 
+		self.send(bytes)
+	else:
+		VRPN.marshall_block(bytes,self)
+
+
+func _on_connected(s : StreamPeerTCP):
+	print("Connected to",s.get_connected_host()) # Replace with function body.
+	
+func _on_disconnected():
+	print("Disconnected") # Replace with function body.
+
+func _on_error():
+	print("Error") # Replace with function body.
+	
+
+static func marshall_block(data : PackedByteArray,session : VRPN) -> void:
 	
 	# need to fix that 
 	var block_offset : int = 0
-	var header_size = aligned_size(20) # kinda redundant as we take the seq number as well
-
+	
 	while data.size() > block_offset:
 		# reader for stream
 		var header := StreamPeerBuffer.new()
@@ -43,9 +136,6 @@ static func marshall_block(data : PackedByteArray,session : Session) -> void:
 			print("message_type '%d'" % message_type)
 			print("sequence_num '%d'" % sequence_num)
 		
-		# print
-		#print("block_offset:{0} header_size:{1} length:{2}".format([block_offset,header_size,length]))
-		
 		marshall_body(data.slice(block_offset+header_size,block_offset+length),message_type,sender_id,session)
 		
 		# next datablock
@@ -56,7 +146,7 @@ static func decode_string(stream : StreamPeerBuffer) -> String:
 	return stream.get_string(len)
 	
 		
-static func marshall_body(data : PackedByteArray,message_type : int, sender_id: int, session : Session):
+static func marshall_body(data : PackedByteArray,message_type : int, sender_id: int, session : VRPN):
 	var body := StreamPeerBuffer.new()
 	body.data_array = data
 	body.big_endian = true
@@ -66,15 +156,14 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
 	if message_type < 0:
 		# message and sender descriptions
 		match message_type:
-			-1:
+			-1: # sensor names
 				var name = decode_string(body)
 				print("sensor name is '%s' with '%d" % [name,sender_id])
 				session.sensors[sender_id] = name
-			-2:
+			-2: # message names
 				var name = decode_string(body)
 				print("message name is '%s' for message_type '%d'" % [name,sender_id])
 				session.messages[sender_id] = name
-			# nothing to decode
 		return
 	
 	# now we use the string identifiers 
@@ -91,6 +180,8 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
 			var quat_y = body.get_double()
 			var quat_z = body.get_double()
 			var quat = Quaternion(quat_x,quat_y,quat_z,quat_w)
+
+			
 			print("Sender:{0} Sensor:{1} Pos:{2} Quat:{3}".format([session.sensors[sender_id],sensor_id,pos,quat]))
 		_:
 			pass
diff --git a/uvrpn.gd b/uvrpn.gd
deleted file mode 100644
index 4267cde..0000000
--- a/uvrpn.gd
+++ /dev/null
@@ -1,50 +0,0 @@
-extends Node
-
-@export var url : String = "localhost"
-@export var port : int = 3883
-
-var vrpn_cookie : String = "vrpn: ver. 07.35"
-
-#var server : UDPServer = null
-@onready var socket : StreamPeerTCP = StreamPeerTCP.new()
-
-func _ready() -> void:
-	#if StreamPeerTCP.STATUS_NONE == socket.get_status():
-	if socket.connect_to_host(url,port) == OK:
-		print("Socket connected ...")
-		socket.set_no_delay(true)
-		send_data(socket,vrpn_cookie.to_utf8_buffer())
-		#server = UDPServer.new()
-		#server.listen(3883)
-	else:
-		print("Error connecting to server")
-	#else:
-		#print("Stream not ready")
-			
-	
-func _process(delta: float) -> void:
-	if socket:
-		socket.poll()
-	##return
-	##if server:
-		##server.poll()
-	##if server.is_connection_available():
-		##var peer = server.take_connection()
-		##var packet = peer.get_packet()
-		##print("Accepted peer: %s:%s" % [peer.get_packet_ip(), peer.get_packet_port()])
-		##print("Received data: %s" % [packet.get_string_from_utf8()])
-		### Reply so it knows we received the message.
-		##peer.put_packet(packet)
-
-
-static func send_data(socket : StreamPeerTCP, data: PackedByteArray) -> bool:
-	print(socket.get_status())
-	if socket.get_status() == StreamPeerTCP.STATUS_CONNECTED:
-		if socket.put_data(data) == OK:
-			return true
-		else:
-			print("Error writing data ...")
-			return false
-	else:
-		print("Error connecting")
-	return false
diff --git a/uvrpn.gd.uid b/uvrpn.gd.uid
deleted file mode 100644
index 9ba71af..0000000
--- a/uvrpn.gd.uid
+++ /dev/null
@@ -1 +0,0 @@
-uid://ca5psnjx63ua8