diff --git a/stack/main/data/trajectories/dynamic/TEST_controlled_0g_ml.csv b/stack/main/data/trajectories/dynamic/TEST_controlled_0g_ml.csv
new file mode 100644
index 0000000..b5e2a73
--- /dev/null
+++ b/stack/main/data/trajectories/dynamic/TEST_controlled_0g_ml.csv
@@ -0,0 +1,17603 @@
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+8781,0.10439750552177429,-0.10220460593700409,0.09692779928445816,0.08533291518688202,-0.19148583710193634,0.08702307939529419,0.012699153274297714,-0.273637980222702,0.09578578174114227
+8782,0.10428879410028458,-0.10222969204187393,0.09681017696857452,0.08509877324104309,-0.19133873283863068,0.08687355369329453,0.012914116494357586,-0.2736828923225403,0.0960790142416954
+8783,0.10394894331693649,-0.1016603484749794,0.09681811183691025,0.0848417803645134,-0.19115543365478516,0.08684101700782776,0.013401811011135578,-0.27388060092926025,0.096768319606781
+8784,0.103522889316082,-0.10094019770622253,0.09706674516201019,0.08529528230428696,-0.19122859835624695,0.08710688352584839,0.014143595471978188,-0.27424925565719604,0.09786781668663025
+8785,0.10362647473812103,-0.10092038661241531,0.0972285196185112,0.08571874350309372,-0.19118128716945648,0.08756636083126068,0.015084940008819103,-0.27466705441474915,0.09925252944231033
+8786,0.10401070863008499,-0.10134631395339966,0.09771938621997833,0.08623944222927094,-0.19122713804244995,0.08812110126018524,0.01623212918639183,-0.2749679982662201,0.10098926723003387
+8787,0.1037551537156105,-0.10071638971567154,0.09793166071176529,0.08651519566774368,-0.19101431965827942,0.08820182085037231,0.01745961233973503,-0.2753913104534149,0.10276937484741211
+8788,0.10327126830816269,-0.10067833960056305,0.09747640043497086,0.08640109747648239,-0.19090600311756134,0.08898977935314178,0.018588924780488014,-0.27579396963119507,0.10437258332967758
+8789,0.10315195471048355,-0.10115443170070648,0.09738391637802124,0.08636992424726486,-0.19068746268749237,0.08928705006837845,0.0200534425675869,-0.27624496817588806,0.10658503323793411
+8790,0.10295804589986801,-0.10069403052330017,0.09768224507570267,0.0865979865193367,-0.1906690001487732,0.08997877687215805,0.02160036377608776,-0.27678394317626953,0.10903589427471161
+8791,0.10299408435821533,-0.10078072547912598,0.09779193252325058,0.08713561296463013,-0.1906358003616333,0.09079941362142563,0.023332437500357628,-0.27712681889533997,0.11170657724142075
+8792,0.10325397551059723,-0.10085136443376541,0.09820832312107086,0.0877964198589325,-0.19074495136737823,0.09149710088968277,0.02499428577721119,-0.2774496376514435,0.11431600153446198
+8793,0.10336511582136154,-0.10085755586624146,0.09845805168151855,0.0884460061788559,-0.1908130794763565,0.0924810841679573,0.026403287425637245,-0.27772462368011475,0.11658135056495667
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+8800,0.10288949310779572,-0.10055307298898697,0.09852978587150574,0.08788713812828064,-0.1905529499053955,0.09285905957221985,0.02801794931292534,-0.27739381790161133,0.12021651118993759
diff --git a/stack/main/src/controller/controller/mpc/__init__.py b/stack/main/src/controller/controller/mpc/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/stack/main/src/controller/controller/mpc_solver_node.py b/stack/main/src/controller/controller/mpc_solver_node.py
index 461dd9e..91bac70 100755
--- a/stack/main/src/controller/controller/mpc_solver_node.py
+++ b/stack/main/src/controller/controller/mpc_solver_node.py
@@ -5,7 +5,7 @@
 from rclpy.qos import QoSProfile    # type: ignore
 from scipy.interpolate import interp1d
 from interfaces.srv import ControlSolver
-from controller.mpc.gusto import GuSTO
+from .mpc.gusto import GuSTO
 
 
 def run_mpc_solver_node(model, config, x0, t=None, dt=None, z=None, u=None, zf=None,
@@ -182,7 +182,7 @@ def __init__(self):
         # Request message definition
         self.req = ControlSolver.Request()
 
-    def send_request(self, t0, x0, wait=True):
+    def send_request(self, t0, x0, wait=False):
         """
         :param t0:
         :param x0:
diff --git a/stack/main/src/executor/executor/run_experiment_node.py b/stack/main/src/executor/executor/run_experiment_node.py
index fa4c0fb..4abf433 100644
--- a/stack/main/src/executor/executor/run_experiment_node.py
+++ b/stack/main/src/executor/executor/run_experiment_node.py
@@ -5,13 +5,14 @@
 import rclpy                        # type: ignore
 from rclpy.node import Node         # type: ignore
 from rclpy.qos import QoSProfile    # type: ignore
-from controller.controller.mpc_solver_node import run_mpc_solver_node, MPCClientNode
-from controller.controller.mpc import GuSTOConfig
+from controller.mpc_solver_node import run_mpc_solver_node, MPCClientNode  # type: ignore
+from controller.mpc.gusto import GuSTOConfig  # type: ignore
 from interfaces.msg import SingleMotorControl, AllMotorsControl, TrunkRigidBodies
 from interfaces.srv import ControlSolver
-from .models.ssm import DelaySSM
-from .models.models import SSMR
-from .models.residual import ResidualBr, NeuralBr
+from . import utils
+from .utils.ssm import DelaySSM
+from .utils.models import SSMR
+from .utils.residual import ResidualBr, NeuralBr
 
 
 class RunExperimentNode(Node):
@@ -23,26 +24,27 @@ def __init__(self):
         self.declare_parameters(namespace='', parameters=[
             ('debug', False),                               # False or True (print debug messages)
             ('experiment_type', 'traj'),                    # 'traj' or 'user' (what input is being tracked)
-            ('model', 'poly'),                              # 'nn' or 'poly' (what model to use)
+            ('model_name', 'ssmr_200g'),                              # 'nn' or 'poly' (what model to use)
             ('controller_type', 'mpc'),                     # 'ik' or 'mpc' (what controller to use)
-            ('output_name', 'base_experiment')              # name of the output file
+            ('results_name', 'base_experiment')             # name of the results file
         ])
 
         self.debug = self.get_parameter('debug').value
         self.experiment_type = self.get_parameter('experiment_type').value
-        self.model_type = self.get_parameter('model').value
+        self.model_name = self.get_parameter('model_name').value
         self.controller_type = self.get_parameter('controller_type').value
-        self.output_name = self.get_parameter('output_name').value
+        self.results_name = self.get_parameter('results_name').value
 
-        self.data_dir = os.getenv('TRUNK_DATA', '/home/asl/Documents/asl_trunk_ws/data')
+        self.data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data')
 
         # Settled positions of the rigid bodies
-        self.settled_positions = jnp.array([0, -0.10665, 0, 0, -0.20432, 0, 0, -0.320682, 0])
+        self.rest_position = jnp.array([0.1005, -0.10698, 0.10445, -0.10302, -0.20407, 0.10933, 0.10581, -0.32308, 0.10566])
+        self.avp_offset = jnp.array([0, -0.10698, 0, 0, -0.20407, 0, 0, -0.32308, 0])
 
         # Get desired states
-        if self.experiment_type == 'trajectory':
+        if self.experiment_type == 'traj':
             # Generate reference trajectory
-            z_ref, t = self._generate_ref_trajectory(3, 0.01, 'circle', 0.1)
+            z_ref, t = self._generate_ref_trajectory(4, 0.01, 'circle', 0.15)
         elif self.experiment_type == 'user':
             # We track positions as defined by the user (through the AVP)
             self.avp_subscription = self.create_subscription(
@@ -69,9 +71,9 @@ def __init__(self):
                 Qz=jnp.eye(self.model.n_z),
                 Qzf=10*jnp.eye(self.model.n_z),
                 R=0.0001*jnp.eye(self.model.n_u),
-                x_char=jnp.ones(self.model.n_x),
-                f_char=jnp.ones(self.model.n_x),
-                N=6
+                x_char=0.05*jnp.ones(self.model.n_x),
+                f_char=0.5*jnp.ones(self.model.n_x),
+                N=7
             )
             x0 = jnp.zeros(self.model.n_x)
             self.mpc_solver_node = run_mpc_solver_node(self.model, gusto_config, x0, t=t, z=z_ref)
@@ -90,31 +92,27 @@ def __init__(self):
             raise ValueError('Invalid controller type: ' + self.controller_type + '. Valid options are: "ik" or "mpc".')
 
         # Create publisher to execute found control inputs
+        """ TODO: enable control execution
         self.controls_publisher = self.create_publisher(
             AllMotorsControl,
             '/all_motors_control',
             QoSProfile(depth=10)
         )
-        self.clock = self.get_clock()
-        self.start_time = self.clock.now().nanoseconds / 1e9
-
+        """
         # Maintain current observations because of the delay embedding
-        self.y = jnp.zeros(6)
+        self.y = jnp.zeros(self.model.n_y)
 
         self.get_logger().info('Run experiment node has been started.')
 
+        self.clock = self.get_clock()
+        # self.start_time = self.clock.now().nanoseconds / 1e9
+
     def _load_model(self):
         """
         Load the learned dynamics model of the system used for control.
         """
-        # Get location of model file
-        if self.model_type == 'nn':
-            model_file = os.path.join(self.data_dir, 'models/nn_ssmr.pkl')
-        elif self.model_type == 'poly':
-            model_file = os.path.join(self.data_dir, 'models/poly_ssmr.pkl')
-        else:
-            raise ValueError('Invalid model type: ' + self.model_type + '. Valid options are: "nn" or "poly".')
-        
+        model_file = os.path.join(self.data_dir, f'models/ssmr/{self.model_name}.pkl')
+
         # Load the model
         with open(model_file, 'rb') as f:
             self.model = dill.load(f)
@@ -152,13 +150,13 @@ def mocap_listener_callback(self, msg):
         y_new = jnp.array([coord for pos in msg.positions for coord in [pos.x, pos.y, pos.z]])
 
         # Center the data around settled positions
-        y_centered = y_new - self.settled_positions
+        y_centered = y_new - self.settled_position
 
-        # Currently we only use the tip positions
-        y_centered_tip = y_centered[-3:]
+        # Subselect bottom two segments
+        y_centered_midtip = y_centered[3:]
 
         # Update the current observations, including *single* delay embedding
-        self.y = jnp.concatenate([y_centered_tip, self.y[:3]])
+        self.y = jnp.concatenate([y_centered_midtip, self.y[:6]])
 
         t0 = self.clock.now().nanoseconds / 1e9
         x0 = self.model.encode(self.y)
@@ -188,7 +186,8 @@ def teleop_listener_callback(self, msg):
     def service_callback(self, async_response):
         try:
             response = async_response.result()
-            self.publish_control_inputs(response.uopt)
+            # TODO: enable control execution
+            # self.publish_control_inputs(response.uopt)
         except Exception as e:
             self.get_logger().error(f'Service call failed: {e}.')
 
diff --git a/stack/main/src/executor/executor/utils/__init__.py b/stack/main/src/executor/executor/utils/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/stack/main/src/executor/executor/models/misc.py b/stack/main/src/executor/executor/utils/misc.py
similarity index 100%
rename from stack/main/src/executor/executor/models/misc.py
rename to stack/main/src/executor/executor/utils/misc.py
diff --git a/stack/main/src/executor/executor/models/models.py b/stack/main/src/executor/executor/utils/models.py
similarity index 98%
rename from stack/main/src/executor/executor/models/models.py
rename to stack/main/src/executor/executor/utils/models.py
index 281350a..c57d7ff 100644
--- a/stack/main/src/executor/executor/models/models.py
+++ b/stack/main/src/executor/executor/utils/models.py
@@ -6,9 +6,9 @@
 import jax.numpy as jnp
 import copy
 from functools import partial
-from utils.ssm import DelaySSM, generate_ssm_predictions
-from utils.residual import ResidualBr, PolyBr
-from utils.misc import trajectories_delay_embedding, trajectories_derivatives, RK4_step, update_parameter, compute_rmse, sample_truncated_normal
+from .ssm import DelaySSM, generate_ssm_predictions
+from .residual import ResidualBr, PolyBr
+from .misc import trajectories_delay_embedding, trajectories_derivatives, RK4_step, update_parameter, compute_rmse, sample_truncated_normal
 
 
 class ReducedOrderModel:
diff --git a/stack/main/src/executor/executor/models/nn.py b/stack/main/src/executor/executor/utils/nn.py
similarity index 100%
rename from stack/main/src/executor/executor/models/nn.py
rename to stack/main/src/executor/executor/utils/nn.py
diff --git a/stack/main/src/executor/executor/models/residual.py b/stack/main/src/executor/executor/utils/residual.py
similarity index 98%
rename from stack/main/src/executor/executor/models/residual.py
rename to stack/main/src/executor/executor/utils/residual.py
index e0bbd26..6c66a71 100644
--- a/stack/main/src/executor/executor/models/residual.py
+++ b/stack/main/src/executor/executor/utils/residual.py
@@ -4,8 +4,8 @@
 
 import jax
 import jax.numpy as jnp
-from utils.nn import MLP
-from utils.misc import polynomial_features, fit_linear_regression
+from .nn import MLP
+from .misc import polynomial_features, fit_linear_regression
 
 
 class ResidualNN:
diff --git a/stack/main/src/executor/executor/models/ssm.py b/stack/main/src/executor/executor/utils/ssm.py
similarity index 99%
rename from stack/main/src/executor/executor/models/ssm.py
rename to stack/main/src/executor/executor/utils/ssm.py
index 833ac21..2d2c265 100644
--- a/stack/main/src/executor/executor/models/ssm.py
+++ b/stack/main/src/executor/executor/utils/ssm.py
@@ -11,7 +11,7 @@
 from scipy.linalg import orth
 import numpy as np
 import sympy as sp
-from utils.misc import trajectories_delay_embedding
+from .misc import trajectories_delay_embedding
 
 
 class DelaySSM: