diff --git a/MetaVoxel_Tutorial.ipynb b/MetaVoxel_Tutorial.ipynb
index 04d84968d841d86e869a68d7565d3c2a7044566a..e88aca7639690b92c2867d5aea8c5b69ff9293bb 100644
--- a/MetaVoxel_Tutorial.ipynb
+++ b/MetaVoxel_Tutorial.ipynb
@@ -28,7 +28,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -42,9 +42,20 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "axialStrain (generic function with 1 method)"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "include(\"./julia/include/vector.jl\") #utils for vectors and quaternions\n",
     "include(\"./julia/include/material.jl\") #utils for node and edge material\n",
@@ -58,9 +69,20 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "\"tutorial\""
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "name= \"tutorial\" # set name for simulation"
    ]
@@ -76,7 +98,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### 1.a. Import lines from Rhino (.3dm)"
+    "### 1.a. Option 1: Import lines from Rhino (.3dm)"
    ]
   },
   {
@@ -118,7 +140,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### 1.b Draw Lattice"
+    "### 1.b Option 2: Draw Cuboct/Hierachical Lattice"
    ]
   },
   {
@@ -159,25 +181,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### 1.c. Fill mesh with voxels (wip)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 7,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# rhino=false\n",
-    "# rhinoFileName= \"./trial.stl\"\n",
-    "# voxelSize=5.0"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "### 1.c. Draw from voxel list"
+    "### 1.c. Option 3: Draw from voxel list"
    ]
   },
   {
@@ -197,7 +201,42 @@
     }
    ],
    "source": [
-    "setup[\"useVoxelList\"]=false\n"
+    "voxelSize=0.001\n",
+    "latticeSizeX=1\n",
+    "latticeSizeY=1\n",
+    "latticeSizeZ=1\n",
+    "\n",
+    "gridSize=10\n",
+    "\n",
+    "setup[\"rhino\"]=false;\n",
+    "setup[\"useVoxelList\"]=true;\n",
+    "\n",
+    "#//allowed x, yand z are from -gridSize to +gridSize (floor is at 0)\n",
+    "setup[\"voxelList\"]=[\n",
+    "        [[0,3,0],material1],# will explain materials next section\n",
+    "        [[0,3,1],material1],# \n",
+    "        [[0,3,2],material1],# \n",
+    "        [[0,3,3],material1],# \n",
+    "        [[0,3,4],material1],# \n",
+    "]"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 1.d. Option 4: Fill mesh with voxels (wip)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# rhino=false\n",
+    "# rhinoFileName= \"./trial.stl\"\n",
+    "# voxelSize=5.0"
    ]
   },
   {
@@ -476,9 +515,20 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 188,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "axialStrain (generic function with 1 method)"
+      ]
+     },
+     "execution_count": 188,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "# alternativly you can get a saved setup from an external julia file\n",
     "# include(\"./julia/examples/thermalTest.jl\") #template for multimaterial hierarchical voxels with different thermal coefficient of thermal expansion \n",
@@ -489,8 +539,9 @@
     "# include(\"./julia/examples/rhinoTestChiral.jl\") #template for importing chiral array\n",
     "# include(\"./julia/examples/rover.jl\") #template for importing chiral array\n",
     "# include(\"./julia/examples/wing.jl\") #template for importing chiral array\n",
-    "include(\"./julia/examples/walkingRobot.jl\") #template for importing chiral array\n",
+    "# include(\"./julia/examples/walkingRobot.jl\") #template for importing chiral array\n",
     "# include(\"./julia/examples/voxelDesigner.jl\") #template for importing chiral array\n",
+    "include(\"./julia/examples/puppy.jl\") #template for importing chiral array\n",
     "\n",
     "\n",
     "\n",
@@ -503,9 +554,28 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 189,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Loaded rhino3dm.\n",
+      "Success!\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "Process(`\u001b[4mnode\u001b[24m \u001b[4mapp1.js\u001b[24m \u001b[4mtutorial\u001b[24m`, ProcessExited(0))"
+      ]
+     },
+     "execution_count": 189,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "#export prev. settings to json\n",
     "fileName=\"./json/$(name)Init.json\"\n",
@@ -529,65 +599,24 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "folderPath=\"./json/tutorial/\" # make sure this folder exists\n",
-    "# folderPath=\"./json/multiscale/\" # make sure this folder exists\n",
-    "\n",
-    "setupSim=getSetup(name);\n",
-    "runMetavoxelGPULive!(setupSim,folderPath)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 70,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "axialStrain (generic function with 1 method)"
-      ]
-     },
-     "execution_count": 70,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "include(\"./julia/include/vector.jl\") #utils for vectors and quaternions\n",
-    "include(\"./julia/include/material.jl\") #utils for node and edge material\n",
-    "include(\"./julia/include/export.jl\") #export simulation data to json\n",
-    "include(\"./julia/include/run.jl\") #turn setup to cuda arrays and run simulation\n",
-    "include(\"./julia/include/updateEdges.jl\") #edges properties update\n",
-    "include(\"./julia/include/externalForces.jl\") #external forces applied to the system\n",
-    "include(\"./julia/include/forces.jl\") #force integration\n",
-    "include(\"./julia/include/updateNodes.jl\") #nodes properties update"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 71,
+   "execution_count": 190,
    "metadata": {},
    "outputs": [
     {
-     "data": {
-      "text/plain": [
-       "\"multiscale\""
-      ]
-     },
-     "execution_count": 71,
-     "metadata": {},
-     "output_type": "execute_result"
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "dt: 1.0065842913007908e-6, s: 0.001, mass: 4.0e-7, momentInertiaInverse: 3.75e12\n",
+      "first timestep took 5.2358389 seconds\n",
+      "ran 196 nodes and 412 edges for 150000 time steps took 73.629313 seconds\n"
+     ]
     }
    ],
    "source": [
-    "# name=\"couponHex\"\n",
-    "# name=\"coupon\"\n",
-    "# name=\"tutorial\"\n",
-    "name=\"multiscale\""
+    "folderPath=\"./json/tutorial/\" # make sure this folder exists\n",
+    "name=\"tutorial\"\n",
+    "setupSim=getSetup(name);\n",
+    "runMetavoxelGPULive!(setupSim,folderPath)"
    ]
   },
   {
diff --git a/demos/indexTutorialGraph.html b/demos/indexTutorialGraph.html
index 0670226e8e4cacc98f97729ae05143b6f16ba7a9..c5b1fd637d4af4f44a062e2deacb6eecbe8be417 100644
--- a/demos/indexTutorialGraph.html
+++ b/demos/indexTutorialGraph.html
@@ -32,7 +32,7 @@
 
       var interaction= {
           exaggeration:1,
-          speed:100
+          speed:200
       }
 
       var gui = new dat.GUI();
@@ -281,10 +281,14 @@
         var helper = new THREE.GridHelper( 100, 100 );
         helper.position.y = -setup.voxelSize/2.0*scale;
 
-        // helper.position.y = -setup.voxelSize/2.0*scale +2*setup.voxelSize*scale;
+        helper.position.y = -setup.voxelSize/2.0*scale +2*setup.voxelSize*scale;
         if (setup.hierarchical){
             helper.position.y=setup.voxelSize*scale*(1.2 -0.1)
         }
+
+        helper.position.y=10000*setup.voxelSize*scale
+        console.log(helper.position.y)
+
         helper.material.opacity = 0.4;
         helper.material.transparent = true;
         helper.scale.x=2.0*scale
diff --git a/json/multiscale.json b/json/multiscale.json
index e32fd4a4a38adac72a6a256646360d62d1eb93fc..53c95386b7322465ea7df2c5ca1bb9b716d67506 100644
--- a/json/multiscale.json
+++ b/json/multiscale.json
@@ -1,621 +1,12462 @@
-{   
-    "setup": {  
-        "materials": [],
-        "poisson": false,
-        "scale": 10000,
-        "ndofs": 408,
-        "supports": [
-
-        ],
-        "thermal": false,
-        "loads": [],
-        "edges": [
-            {
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "source": 0,
-                "id": "e0",
-                "stress": 0.0,
-                "target": 1,
-                "multiscale":true,
-                "sourceNodalCoordinate": 5,
-                "targetNodalCoordinate": 0
-            },
-            {
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "source": 0,
-                "id": "e1",
-                "stress": 0.0,
-                "target": 2,
-                "multiscale":true,
-                "sourceNodalCoordinate": 7,
-                "targetNodalCoordinate": 0
-            }
-        ],
-        "maxNumFiles": 50,
-        "voxelSize": 0.001,
-        "fixedDisplacements": [],
-        "numTimeSteps": 100,
-        "linear": true,
-        "animation": {
-            "exaggeration": 1,
-            "speed": 3,
-            "showDisplacement": false
-        },
-        "nodes": [
-            {
-                "parent": "",
-                "scale": 2,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n0",
-                "position": {
-                    "x": 0.0005,
-                    "z": 0.0005,
-                    "y": 0.0005
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n1",
-                "position": {
-                    "x": 0.002,
-                    "z": 0.0,
-                    "y": 0.0
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n2",
-                "position": {
-                    "x": 0.002,
-                    "z": 0.0,
-                    "y": 0.001
-                },
-                "force": {
-                    "x": 0.05,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n1",
-                "position": {
-                    "x": 0.0,
-                    "z": 0.0,
-                    "y": 0.0
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n5",
-                "position": {
-                    "x": 0.001,
-                    "z": 0.0,
-                    "y": 0.0
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n7",
-                "position": {
-                    "x": 0.001,
-                    "z": 0.0,
-                    "y": 0.001
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n3",
-                "position": {
-                    "x": 0.0,
-                    "z": 0.0,
-                    "y": 0.001
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n2",
-                "position": {
-                    "x": 0.0,
-                    "z": 0.001,
-                    "y": 0.0
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                }
-            },
-            {
-                "parent": "n0",
-                "scale": 1,
-                "multiscale":true,
-                "nomSize": 1,
-                "angle": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "degrees_of_freedom": "",
-                "material": {
-                    "cTE": 0,
-                    "poissonRatio": 0,
-                    "density": 50,
-                    "area": 0.000001,
-                    "stiffness": 500000
-                },
-                "id": "n4",
-                "position": {
-                    "x": 0.0,
-                    "z": 0.001,
-                    "y": 0.001
-                },
-                "force": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "angTimeSteps": [],
-                "fixedDisplacement": {
-                    "x": 0,
-                    "z": 0,
-                    "y": 0
-                },
-                "posTimeSteps": [],
-                "restrained_degrees_of_freedom": [
-                    false,
-                    false,
-                    false,
-                    true,
-                    true,
-                    true
-                ],
-                "displacement": {
-                    "x": 0,
-                    "z": 0,
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 }
\ No newline at end of file
diff --git a/json/multiscaleInit.json b/json/multiscaleInit.json
index 7e120dfb86f73c40c8959f4984b515f580c322c6..ff60ac9861619f936b2f38ae0fee6c38d90f4c74 100644
--- a/json/multiscaleInit.json
+++ b/json/multiscaleInit.json
@@ -1 +1 @@
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diff --git a/json/name.json b/json/name.json
index f15490b5e06396d62356b50310f8ed27551e33ca..6592e72078d04dce0c7495c8aa1dbee102ecca46 100644
--- a/json/name.json
+++ b/json/name.json
@@ -13,17 +13,17 @@
           5
         ],
         "restrained_degrees_of_freedom": [
-          true,
-          true,
-          true,
+          false,
+          false,
+          false,
           true,
           true,
           true
         ],
         "position": {
-          "x": 0.0005,
-          "y": 0.0005,
-          "z": 0.0005
+          "x": 0.0005000000000000004,
+          "y": 0.0075000000000000015,
+          "z": 0.0005000000000000004
         },
         "force": {
           "x": 0,
@@ -48,7 +48,7 @@
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           "poissonRatio": 0,
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@@ -66,17 +66,17 @@
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@@ -101,7 +101,7 @@
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@@ -119,17 +119,17 @@
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@@ -152,9 +152,9 @@
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@@ -172,17 +172,17 @@
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@@ -205,9 +205,9 @@
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@@ -233,9 +233,9 @@
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@@ -260,7 +260,7 @@
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@@ -286,9 +286,9 @@
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@@ -313,7 +313,7 @@
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@@ -339,9 +339,9 @@
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@@ -364,9 +364,9 @@
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@@ -392,9 +392,9 @@
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@@ -417,9 +417,9 @@
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@@ -445,9 +445,9 @@
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@@ -472,7 +472,7 @@
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@@ -525,7 +525,7 @@
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@@ -551,9 +551,9 @@
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@@ -576,9 +576,9 @@
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@@ -604,9 +604,9 @@
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@@ -629,9 +629,9 @@
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@@ -684,7 +684,7 @@
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@@ -737,7 +737,7 @@
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@@ -788,9 +788,9 @@
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@@ -841,9 +841,9 @@
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@@ -896,7 +896,7 @@
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@@ -949,7 +949,7 @@
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@@ -1000,9 +1000,9 @@
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@@ -1053,9 +1053,9 @@
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@@ -1106,9 +1106,9 @@
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@@ -1134,9 +1134,9 @@
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@@ -1159,9 +1159,9 @@
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@@ -1187,9 +1187,9 @@
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@@ -1213,8 +1213,8 @@
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@@ -1240,9 +1240,9 @@
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@@ -1266,8 +1266,8 @@
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@@ -1293,9 +1293,9 @@
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@@ -1318,9 +1318,9 @@
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@@ -1346,9 +1346,9 @@
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@@ -1371,9 +1371,9 @@
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@@ -1399,9 +1399,9 @@
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@@ -1424,9 +1424,9 @@
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@@ -1452,9 +1452,9 @@
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@@ -1477,694 +1477,3854 @@
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           "area": 0.000001,
           "stiffness": 1000000
         },
         "stress": 0
       }
     ],
-    "ndofs": 168,
+    "ndofs": 408,
     "animation": {
       "showDisplacement": true,
       "exaggeration": 1,
@@ -2179,98 +5339,12 @@
     },
     "hierarchical": true,
     "voxelSize": 0.001,
-    "materials": [
-      [
-        {
-          "max": {
-            "x": 0.01,
-            "z": 0.01,
-            "y": 0.01
-          },
-          "min": {
-            "x": -0.01,
-            "z": -0.01,
-            "y": -0.01
-          }
-        },
-        {
-          "cTE": 0,
-          "poissonRatio": 0,
-          "density": 1000,
-          "area": 0.000001,
-          "stiffness": 1000000
-        }
-      ],
-      [
-        {
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-            "z": 0.002,
-            "y": 0.002
-          },
-          "min": {
-            "x": 0,
-            "z": 0,
-            "y": 0.001
-          }
-        },
-        {
-          "cTE": 0.1,
-          "poissonRatio": 0,
-          "density": 1000,
-          "area": 0.000001,
-          "stiffness": 1000000
-        }
-      ]
-    ],
-    "supports": [
-      [
-        {
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-            "z": 0.002,
-            "y": 0.002
-          },
-          "min": {
-            "x": 0,
-            "z": 0,
-            "y": 0
-          }
-        },
-        [
-          true,
-          true,
-          true,
-          true,
-          true,
-          true
-        ]
-      ]
-    ],
-    "loads": [
-      [
-        {
-          "max": {
-            "x": 0.007,
-            "z": 0.002,
-            "y": 0.002
-          },
-          "min": {
-            "x": 0.006,
-            "z": 0,
-            "y": 0
-          }
-        },
-        {
-          "x": 0,
-          "z": 0,
-          "y": 0
-        }
-      ]
-    ],
+    "materials": [],
+    "supports": [],
+    "loads": [],
     "fixedDisplacements": [],
-    "numTimeSteps": 5000,
-    "maxNumFiles": 200,
+    "numTimeSteps": 30000,
+    "maxNumFiles": 100,
     "poisson": false,
     "scale": 10000,
     "linear": true,
diff --git a/json/nameInit.json b/json/nameInit.json
index 7e120dfb86f73c40c8959f4984b515f580c322c6..64d13fdbdf92e4b53f2ea1bf9dd2e9b566ec0f9f 100644
--- a/json/nameInit.json
+++ b/json/nameInit.json
@@ -1 +1 @@
-{"setup":{"materials":[[{"max":{"x":0.01,"z":0.01,"y":0.01},"min":{"x":-0.01,"z":-0.01,"y":-0.01}},{"cTE":0.0,"poissonRatio":0.0,"density":1000.0,"area":1.0e-6,"stiffness":1.0e6}],[{"max":{"x":0.007,"z":0.002,"y":0.002},"min":{"x":0,"z":0,"y":0.001}},{"cTE":0.1,"poissonRatio":0.0,"density":1000.0,"area":1.0e-6,"stiffness":1.0e6}]],"poisson":false,"rhino":false,"latticeSizeY":2,"scale":10000.0,"supports":[[{"max":{"x":0.001,"z":0.002,"y":0.002},"min":{"x":0,"z":0,"y":0}},[true,true,true,true,true,true]]],"thermal":true,"loads":[[{"max":{"x":0.007,"z":0.002,"y":0.002},"min":{"x":0.006,"z":0,"y":0}},{"x":0.0,"z":0.0,"y":0.0}]],"maxNumFiles":200,"voxelSize":0.001,"numTimeSteps":5000,"fixedDisplacements":[],"linear":true,"latticeSizeX":7,"gridSize":10,"latticeSizeZ":2,"useVoxelList":false,"hierarchical":true,"globalDamping":0.15}}
\ No newline at end of file
+{"setup":{"materials":[],"poisson":false,"rhino":false,"latticeSizeY":8,"scale":10000.0,"supports":[],"thermal":true,"loads":[],"maxNumFiles":100,"voxelSize":0.001,"numTimeSteps":30000,"fixedDisplacements":[],"linear":true,"latticeSizeX":2,"gridSize":10,"latticeSizeZ":5,"useVoxelList":true,"voxelList":[[[0,7,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,7,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,7,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,7,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,7,2],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,7,2],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,7,3],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,7,3],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,7,4],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,7,4],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,6,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,6,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,6,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,6,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,6,2],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,6,2],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,6,3],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,6,3],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,6,4],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,6,4],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,5,0],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,5,1],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,4,0],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,4,1],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,3,0],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,3,1],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,5,0],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,5,1],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,4,0],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,4,1],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,3,0],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,3,1],{"cTE":-0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,5,3],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,5,4],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,4,3],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,4,4],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,3,3],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,3,4],{"cTE":0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,5,4],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,5,3],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,4,3],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,4,4],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,3,3],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,3,4],{"cTE":-0.1,"poissonRatio":-0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,2,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,2,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,1,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,1,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,0,0],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[0,0,1],{"cTE":0.0,"poissonRatio":0.0,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,2,0],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,2,1],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,1,0],{"cTE":0.1,"poissonRatio":0.1,"density":50.0,"area":1.0e-6,"stiffness":1.0e6}],[[1,1,1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\ No newline at end of file
diff --git a/json/tutorial.json b/json/tutorial.json
index 51d1548c74bef20e49c99948a40068927fb72dfc..233150c70ed4343962294618e740f8bfb9c6636c 100644
--- a/json/tutorial.json
+++ b/json/tutorial.json
@@ -14,7 +14,7 @@
         ],
         "restrained_degrees_of_freedom": [
           false,
-          true,
+          false,
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           true,
@@ -50,7 +50,7 @@
           "poissonRatio": 0,
           "density": 50,
           "area": 0.000001,
-          "stiffness": 1000000
+          "stiffness": 10000000
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@@ -67,7 +67,7 @@
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@@ -103,7 +103,7 @@
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+          "stiffness": 10000000
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         "nomSize": 1
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@@ -120,7 +120,7 @@
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@@ -156,7 +156,7 @@
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+          "stiffness": 10000000
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@@ -173,7 +173,7 @@
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@@ -209,7 +209,7 @@
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@@ -226,7 +226,7 @@
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@@ -262,7 +262,7 @@
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@@ -279,7 +279,7 @@
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@@ -315,7 +315,7 @@
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@@ -332,7 +332,7 @@
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@@ -368,7 +368,7 @@
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@@ -385,7 +385,7 @@
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@@ -421,7 +421,7 @@
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@@ -438,7 +438,7 @@
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@@ -474,7 +474,7 @@
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@@ -491,7 +491,7 @@
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@@ -527,7 +527,7 @@
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@@ -544,7 +544,7 @@
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@@ -580,7 +580,7 @@
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@@ -597,7 +597,7 @@
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@@ -633,7 +633,7 @@
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@@ -650,7 +650,7 @@
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@@ -686,7 +686,7 @@
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@@ -703,7 +703,7 @@
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@@ -739,7 +739,7 @@
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@@ -756,7 +756,7 @@
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@@ -792,7 +792,7 @@
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@@ -809,7 +809,7 @@
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@@ -845,7 +845,7 @@
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@@ -862,7 +862,7 @@
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@@ -898,7 +898,7 @@
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@@ -915,7 +915,7 @@
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@@ -951,7 +951,7 @@
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@@ -968,7 +968,7 @@
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@@ -1004,7 +1004,7 @@
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@@ -1021,7 +1021,7 @@
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@@ -1057,7 +1057,7 @@
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@@ -1081,8 +1081,8 @@
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+          "x": 0.0025000000000000005,
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           "z": 0.0005000000000000004
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         "force": {
@@ -1106,11 +1106,11 @@
           "z": 0
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         "material": {
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+          "cTE": 0,
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@@ -1134,8 +1134,8 @@
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         ],
         "position": {
-          "x": 0.0014999999999999996,
-          "y": 0.0055,
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@@ -2934,12 +15254,12 @@
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@@ -2947,12 +15267,12 @@
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@@ -2960,12 +15280,12 @@
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@@ -2973,12 +15293,12 @@
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@@ -2986,12 +15306,12 @@
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@@ -2999,12 +15319,12 @@
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@@ -3012,12 +15332,12 @@
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@@ -3025,12 +15345,12 @@
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@@ -3038,12 +15358,12 @@
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@@ -3051,12 +15371,12 @@
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@@ -3064,12 +15384,12 @@
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@@ -3077,12 +15397,12 @@
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@@ -3090,12 +15410,12 @@
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@@ -3103,12 +15423,12 @@
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@@ -3116,129 +15436,129 @@
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@@ -3246,12 +15566,12 @@
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@@ -3259,12 +15579,12 @@
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@@ -3272,12 +15592,12 @@
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@@ -3285,12 +15605,12 @@
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@@ -3298,12 +15618,12 @@
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@@ -3311,12 +15631,12 @@
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@@ -3324,12 +15644,12 @@
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@@ -3337,12 +15657,12 @@
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@@ -3350,12 +15670,12 @@
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@@ -3363,12 +15683,12 @@
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@@ -3376,12 +15696,12 @@
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@@ -3389,12 +15709,12 @@
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@@ -3402,12 +15722,12 @@
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@@ -3415,12 +15735,12 @@
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@@ -3428,7 +15748,7 @@
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     ],
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@@ -3444,34 +15764,11 @@
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     "fixedDisplacements": [],
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-    "maxNumFiles": 200,
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+    "maxNumFiles": 50,
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diff --git a/json/tutorialInit.json b/json/tutorialInit.json
index d2ecc70227bf8c5e30625a1d2d0eefee417cf5f3..24a94683f6ff511dc10e7f5ec2597e5892a826c4 100644
--- a/json/tutorialInit.json
+++ b/json/tutorialInit.json
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/julia/examples/puppy.jl b/julia/examples/puppy.jl
new file mode 100644
index 0000000000000000000000000000000000000000..b64a3f8e433a07c24e4d8b90f5e3b84864f9e6c7
--- /dev/null
+++ b/julia/examples/puppy.jl
@@ -0,0 +1,649 @@
+# Amira Abdel-Rahman
+# (c) Massachusetts Institute of Technology 2020
+
+######################### 1. Voxel Design ###########################
+setup = Dict()
+
+### 1.b Draw Lattice
+
+rhino=false
+
+voxelSize=0.001
+latticeSizeX=2+8
+latticeSizeY=8
+latticeSizeZ=5
+
+gridSize=10
+
+setup["gridSize"]=gridSize
+
+setup["rhino"]=false
+setup["useVoxelList"]=true
+
+
+setup["latticeSizeX"]=latticeSizeX
+setup["latticeSizeY"]=latticeSizeY
+setup["latticeSizeZ"]=latticeSizeZ
+
+######################### 2. Boundary Conditions #########################
+
+######################### 2.a. Global Settings #########################
+
+#scaling params
+setup["voxelSize"]=voxelSize; #voxel size
+setup["scale"]=1e4; #scale for visualization
+setup["hierarchical"]=true; #hierachical simualtion
+
+
+#simulation params
+setup["numTimeSteps"]=30000*5.0/1.0; #num of timesteps for simulation
+
+setup["poisson"]=false; # account for poisson ration (only for hierarchical)
+setup["linear"]=true; # linear vs non-linear
+setup["thermal"]=true; #if there is change in temperature
+setup["globalDamping"]=0.15; # (usually from 0.1 to 0.4)
+
+
+#visualization params
+setup["maxNumFiles"]=50; #num of saved timesteps for visualization
+
+
+######################### 2.b. Materials #########################
+
+density=50.0
+stiffness=1e6
+
+#default neural material
+material0= Dict()
+material0["area"]=voxelSize*voxelSize
+material0["density"]=density
+material0["stiffness"]=stiffness*10.0
+material0["poissonRatio"]=0.0
+material0["cTE"]=0.0 #coefficient of thermal expansion
+
+#first material leg1
+material11= Dict()
+material11["area"]=voxelSize*voxelSize
+material11["density"]=density
+material11["stiffness"]=stiffness
+material11["poissonRatio"]=0.1
+material11["cTE"]=-0.1 #coefficient of thermal expansion
+
+
+#second material leg1
+material12= Dict()
+material12["area"]=voxelSize*voxelSize
+material12["density"]=density
+material12["stiffness"]=stiffness
+material12["poissonRatio"]=0.1
+material12["cTE"]=0.1 #coefficient of thermal expansion
+
+
+#first material leg2
+material21= Dict()
+material21["area"]=voxelSize*voxelSize
+material21["density"]=density
+material21["stiffness"]=stiffness
+material21["poissonRatio"]=-0.1
+material21["cTE"]=-0.1 #coefficient of thermal expansion
+
+
+#second material leg2
+material22= Dict()
+material22["area"]=voxelSize*voxelSize
+material22["density"]=density
+material22["stiffness"]=stiffness
+material22["poissonRatio"]=-0.1
+material22["cTE"]=0.1 #coefficient of thermal expansion
+
+
+#first material leg1
+material11_shift= Dict()
+material11_shift["area"]=voxelSize*voxelSize
+material11_shift["density"]=density
+material11_shift["stiffness"]=stiffness
+material11_shift["poissonRatio"]=0.1
+material11_shift["cTE"]=-0.5 #coefficient of thermal expansion
+
+
+#second material leg1
+material12_shift= Dict()
+material12_shift["area"]=voxelSize*voxelSize
+material12_shift["density"]=density
+material12_shift["stiffness"]=stiffness
+material12_shift["poissonRatio"]=0.1
+material12_shift["cTE"]=0.5 #coefficient of thermal expansion
+
+
+#first material leg2
+material21_shift= Dict()
+material21_shift["area"]=voxelSize*voxelSize
+material21_shift["density"]=density
+material21_shift["stiffness"]=stiffness
+material21_shift["poissonRatio"]=-0.1
+material21_shift["cTE"]=-0.5 #coefficient of thermal expansion
+
+
+#second material leg2
+material22_shift= Dict()
+material22_shift["area"]=voxelSize*voxelSize
+material22_shift["density"]=density
+material22_shift["stiffness"]=stiffness
+material22_shift["poissonRatio"]=-0.1
+material22_shift["cTE"]=0.5 #coefficient of thermal expansion
+
+
+
+setup["materials"]=[
+
+];
+
+
+#//allowed x, yand z are from -gridSize to +gridSize (floor is at 0)
+setup["voxelList"]=[
+
+    [[0,7,0],material0],#top
+    [[1,7,0],material0],#top
+    [[0,7,1],material0],#top
+    [[1,7,1],material0],#top
+    [[0,7,2],material0],#top
+    [[1,7,2],material0],#top
+    [[0,7,3],material0],#top
+    [[1,7,3],material0],#top
+    [[0,7,4],material0],#top
+    [[1,7,4],material0],#top
+
+    [[0,6,0],material0],#top
+    [[1,6,0],material0],#top
+    [[0,6,1],material0],#top
+    [[1,6,1],material0],#top
+    [[0,6,2],material0],#top
+    [[1,6,2],material0],#top
+    [[0,6,3],material0],#top
+    [[1,6,3],material0],#top
+    [[0,6,4],material0],#top
+    [[1,6,4],material0],#top
+
+    
+
+    [[0+2,7,0],material0],#top
+    [[1+2,7,0],material0],#top
+    [[0+2,7,1],material0],#top
+    [[1+2,7,1],material0],#top
+    [[0+2,7,2],material0],#top
+    [[1+2,7,2],material0],#top
+    [[0+2,7,3],material0],#top
+    [[1+2,7,3],material0],#top
+    [[0+2,7,4],material0],#top
+    [[1+2,7,4],material0],#top
+    [[0+2,6,0],material0],#top
+    [[1+2,6,0],material0],#top
+    [[0+2,6,1],material0],#top
+    [[1+2,6,1],material0],#top
+    [[0+2,6,2],material0],#top
+    [[1+2,6,2],material0],#top
+    [[0+2,6,3],material0],#top
+    [[1+2,6,3],material0],#top
+    [[0+2,6,4],material0],#top
+    [[1+2,6,4],material0],#top
+
+
+    [[0+4,7,0],material0],#top
+    [[1+4,7,0],material0],#top
+    [[0+4,7,1],material0],#top
+    [[1+4,7,1],material0],#top
+    [[0+4,7,2],material0],#top
+    [[1+4,7,2],material0],#top
+    [[0+4,7,3],material0],#top
+    [[1+4,7,3],material0],#top
+    [[0+4,7,4],material0],#top
+    [[1+4,7,4],material0],#top
+    [[0+4,6,0],material0],#top
+    [[1+4,6,0],material0],#top
+    [[0+4,6,1],material0],#top
+    [[1+4,6,1],material0],#top
+    [[0+4,6,2],material0],#top
+    [[1+4,6,2],material0],#top
+    [[0+4,6,3],material0],#top
+    [[1+4,6,3],material0],#top
+    [[0+4,6,4],material0],#top
+    [[1+4,6,4],material0],#top
+
+    [[0+6,7,0],material0],#top
+    [[1+6,7,0],material0],#top
+    [[0+6,7,1],material0],#top
+    [[1+6,7,1],material0],#top
+    [[0+6,7,2],material0],#top
+    [[1+6,7,2],material0],#top
+    [[0+6,7,3],material0],#top
+    [[1+6,7,3],material0],#top
+    [[0+6,7,4],material0],#top
+    [[1+6,7,4],material0],#top
+    [[0+6,6,0],material0],#top
+    [[1+6,6,0],material0],#top
+    [[0+6,6,1],material0],#top
+    [[1+6,6,1],material0],#top
+    [[0+6,6,2],material0],#top
+    [[1+6,6,2],material0],#top
+    [[0+6,6,3],material0],#top
+    [[1+6,6,3],material0],#top
+    [[0+6,6,4],material0],#top
+    [[1+6,6,4],material0],#top
+
+    [[0+8,7,0],material0],#top
+    [[1+8,7,0],material0],#top
+    [[0+8,7,1],material0],#top
+    [[1+8,7,1],material0],#top
+    [[0+8,7,2],material0],#top
+    [[1+8,7,2],material0],#top
+    [[0+8,7,3],material0],#top
+    [[1+8,7,3],material0],#top
+    [[0+8,7,4],material0],#top
+    [[1+8,7,4],material0],#top
+    [[0+8,6,0],material0],#top
+    [[1+8,6,0],material0],#top
+    [[0+8,6,1],material0],#top
+    [[1+8,6,1],material0],#top
+    [[0+8,6,2],material0],#top
+    [[1+8,6,2],material0],#top
+    [[0+8,6,3],material0],#top
+    [[1+8,6,3],material0],#top
+    [[0+8,6,4],material0],#top
+    [[1+8,6,4],material0],#top
+
+    ########################################################## front legs ####################################################################
+    
+    ########################upper##################################
+    [[0,5,0],material12],#leg1 front
+    [[0,5,1],material12],#leg1 front
+    [[0,4,0],material12],#leg1 front
+    [[0,4,1],material12],#leg1 front
+    [[0,3,0],material12],#leg1 front
+    [[0,3,1],material12],#leg1 front
+
+
+    [[1,5,0],material11],#leg1 back
+    [[1,5,1],material11],#leg1 back
+    [[1,4,0],material11],#leg1 back
+    [[1,4,1],material11],#leg1 back
+    [[1,3,0],material11],#leg1 back
+    [[1,3,1],material11],#leg1 back
+
+    
+    [[0,5,3],material22],#leg2 front
+    [[0,5,4],material22],#leg2 front
+    [[0,4,3],material22],#leg2 front
+    [[0,4,4],material22],#leg2 front
+    [[0,3,3],material22],#leg2 front
+    [[0,3,4],material22],#leg2 front
+
+
+    [[1,5,4],material21],#leg2 back
+    [[1,5,3],material21],#leg2 back
+    [[1,4,3],material21],#leg2 back
+    [[1,4,4],material21],#leg2 back
+    [[1,3,3],material21],#leg2 back
+    [[1,3,4],material21],#leg2 back
+
+
+    ########################lower##################################
+
+
+    [[0,2,0],material0],#leg1 front
+    [[0,2,1],material0],#leg1 front
+    [[0,1,0],material0],#leg1 front
+    [[0,1,1],material0],#leg1 front
+    [[0,0,0],material0],#leg1 front
+    [[0,0,1],material0],#leg1 front
+
+
+    [[1,2,0],material12],#leg1 back 2
+    [[1,2,1],material12],#leg1 back 2
+    [[1,1,0],material12],#leg1 back 2
+    [[1,1,1],material12],#leg1 back 2
+    [[1,0,0],material12],#leg1 back 2
+    [[1,0,1],material12],#leg1 back 2
+
+    [[0,2,3],material0],#leg2 front 2
+    [[0,2,4],material0],#leg2 front 2
+    [[0,1,3],material0],#leg2 front 2
+    [[0,1,4],material0],#leg2 front 2
+    [[0,0,3],material0],#leg2 front 2
+    [[0,0,4],material0],#leg2 front 2
+
+
+    [[1,2,3],material22],#leg2 back
+    [[1,2,4],material22],#leg2 back
+    [[1,0,3],material22],#leg2 back
+    [[1,0,4],material22],#leg2 back
+    [[1,1,3],material22],#leg2 back
+    [[1,1,4],material22],#leg2 back
+
+    ########################################################## back legs ####################################################################
+    
+    ########################upper##################################
+    # [[0+4,5,0],material22],#leg1 front
+    # [[0+4,5,1],material22],#leg1 front
+    # [[0+4,4,0],material22],#leg1 front
+    # [[0+4,4,1],material22],#leg1 front
+    # [[0+4,3,0],material22],#leg1 front
+    # [[0+4,3,1],material22],#leg1 front
+
+    # [[1+4,5,0],material21],#leg1 back
+    # [[1+4,5,1],material21],#leg1 back
+    # [[1+4,4,0],material21],#leg1 back
+    # [[1+4,4,1],material21],#leg1 back
+    # [[1+4,3,0],material21],#leg1 back
+    # [[1+4,3,1],material21],#leg1 back
+    
+    # [[0+4,5,3],material12],#leg2 front
+    # [[0+4,5,4],material12],#leg2 front
+    # [[0+4,4,3],material12],#leg2 front
+    # [[0+4,4,4],material12],#leg2 front
+    # [[0+4,3,3],material12],#leg2 front
+    # [[0+4,3,4],material12],#leg2 front
+
+    # [[1+4,5,4],material11],#leg2 back
+    # [[1+4,5,3],material11],#leg2 back
+    # [[1+4,4,3],material11],#leg2 back
+    # [[1+4,4,4],material11],#leg2 back
+    # [[1+4,3,3],material11],#leg2 back
+    # [[1+4,3,4],material11],#leg2 back
+
+
+    ########################lower##################################
+
+
+    # [[0+4,2,0],material0],#leg1 front
+    # [[0+4,2,1],material0],#leg1 front
+    # [[0+4,1,0],material0],#leg1 front
+    # [[0+4,1,1],material0],#leg1 front
+    # [[0+4,0,0],material0],#leg1 front
+    # [[0+4,0,1],material0],#leg1 front
+
+
+    # [[1+4,2,0],material22],#leg1 back 2
+    # [[1+4,2,1],material22],#leg1 back 2
+    # [[1+4,1,0],material22],#leg1 back 2
+    # [[1+4,1,1],material22],#leg1 back 2
+    # [[1+4,0,0],material22],#leg1 back 2
+    # [[1+4,0,1],material22],#leg1 back 2
+
+    # [[0+4,2,3],material0],#leg2 front 2
+    # [[0+4,2,4],material0],#leg2 front 2
+    # [[0+4,1,3],material0],#leg2 front 2
+    # [[0+4,1,4],material0],#leg2 front 2
+    # [[0+4,0,3],material0],#leg2 front 2
+    # [[0+4,0,4],material0],#leg2 front 2
+
+    
+    # [[1+4,2,3],material12],#leg2 back
+    # [[1+4,2,4],material12],#leg2 back
+    # [[1+4,0,3],material12],#leg2 back
+    # [[1+4,0,4],material12],#leg2 back
+    # [[1+4,1,3],material12],#leg2 back
+    # [[1+4,1,4],material12],#leg2 back
+
+
+    # ########################################################## front legs ####################################################################
+    
+    # ########################upper##################################
+    [[0+8,5,0],material12_shift],#leg1 front
+    [[0+8,5,1],material12_shift],#leg1 front
+    [[0+8,4,0],material12_shift],#leg1 front
+    [[0+8,4,1],material12_shift],#leg1 front
+    [[0+8,3,0],material12_shift],#leg1 front
+    [[0+8,3,1],material12_shift],#leg1 front
+
+    [[1+8,5,0],material11_shift],#leg1 back
+    [[1+8,5,1],material11_shift],#leg1 back
+    [[1+8,4,0],material11_shift],#leg1 back
+    [[1+8,4,1],material11_shift],#leg1 back
+    [[1+8,3,0],material11_shift],#leg1 back
+    [[1+8,3,1],material11_shift],#leg1 back
+
+    
+    [[0+8,5,3],material22_shift],#leg2 front
+    [[0+8,5,4],material22_shift],#leg2 front
+    [[0+8,4,3],material22_shift],#leg2 front
+    [[0+8,4,4],material22_shift],#leg2 front
+    [[0+8,3,3],material22_shift],#leg2 front
+    [[0+8,3,4],material22_shift],#leg2 front
+
+    [[1+8,5,4],material21_shift],#leg2 back
+    [[1+8,5,3],material21_shift],#leg2 back
+    [[1+8,4,3],material21_shift],#leg2 back
+    [[1+8,4,4],material21_shift],#leg2 back
+    [[1+8,3,3],material21_shift],#leg2 back
+    [[1+8,3,4],material21_shift],#leg2 back
+
+
+    ########################lower##################################
+
+
+    [[0+8,2,0],material0],#leg1 front
+    [[0+8,2,1],material0],#leg1 front
+    [[0+8,1,0],material0],#leg1 front
+    [[0+8,1,1],material0],#leg1 front
+    [[0+8,0,0],material0],#leg1 front
+    [[0+8,0,1],material0],#leg1 front
+
+    [[1+8,2,0],material12_shift],#leg1 back 2
+    [[1+8,2,1],material12_shift],#leg1 back 2
+    [[1+8,1,0],material12_shift],#leg1 back 2
+    [[1+8,1,1],material12_shift],#leg1 back 2
+    [[1+8,0,0],material12_shift],#leg1 back 2
+    [[1+8,0,1],material12_shift],#leg1 back 2
+
+    [[0+8,2,3],material0],#leg2 front 2
+    [[0+8,2,4],material0],#leg2 front 2
+    [[0+8,1,3],material0],#leg2 front 2
+    [[0+8,1,4],material0],#leg2 front 2
+    [[0+8,0,3],material0],#leg2 front 2
+    [[0+8,0,4],material0],#leg2 front 2
+
+    [[1+8,2,3],material22_shift],#leg2 back
+    [[1+8,2,4],material22_shift],#leg2 back
+    [[1+8,0,3],material22_shift],#leg2 back
+    [[1+8,0,4],material22_shift],#leg2 back
+    [[1+8,1,3],material22_shift],#leg2 back
+    [[1+8,1,4],material22_shift],#leg2 back
+
+        
+];
+######################### 2.c. Supports #########################
+
+#x,y,z,rx,ry,rz (default is pinned joing i.e [false,false,false,true,true,true])
+dof=[true,true,true,true,true,true]
+# dof=[false,true,false,true,true,true]
+
+
+boundingBoxSupport1=Dict()
+boundingBoxSupport1["min"]=Dict()
+boundingBoxSupport1["max"]=Dict()
+
+
+boundingBoxSupport1["min"]["x"]=0;
+boundingBoxSupport1["min"]["y"]=voxelSize*(latticeSizeY-2);
+boundingBoxSupport1["min"]["z"]=0;
+
+boundingBoxSupport1["max"]["x"]=voxelSize*(latticeSizeX);
+boundingBoxSupport1["max"]["y"]=voxelSize*(latticeSizeY);
+boundingBoxSupport1["max"]["z"]=voxelSize*(latticeSizeZ);
+
+setup["supports"]=[
+        # [boundingBoxSupport1,dof]
+    ];
+
+######################### 2.d. Loads #########################
+#### 2.d.1 Static Loads
+load1=Dict()
+load1["x"]=0.0
+load1["y"]=0.0
+load1["z"]=0.0
+
+boundingBoxLoad1=Dict()
+boundingBoxLoad1["min"]=Dict()
+boundingBoxLoad1["max"]=Dict()
+
+boundingBoxLoad1["min"]["x"]=0
+boundingBoxLoad1["min"]["y"]=voxelSize*(latticeSizeY-1);
+boundingBoxLoad1["min"]["z"]=0;
+
+boundingBoxLoad1["max"]["x"]=voxelSize*(latticeSizeX);
+boundingBoxLoad1["max"]["y"]=voxelSize*(latticeSizeY);
+boundingBoxLoad1["max"]["z"]=voxelSize*(latticeSizeZ);
+
+
+setup["loads"]=[
+        # [boundingBoxLoad1,load1]
+    ];
+
+setup["fixedDisplacements"]=[];
+
+
+#### 2.d.2 Dynamic Loads
+function floorEnabled()
+    return true
+end
+
+function gravityEnabled()
+    return true
+end
+
+function externalDisplacement(currentTimeStep,N_position,N_fixedDisplacement)
+    return N_fixedDisplacement
+end
+
+function externalForce(currentTimeStep,N_position,N_force)
+
+    return N_force
+end
+
+# if no temperature:
+# function updateTemperature(currentRestLength,currentTimeStep,mat)
+#     return currentRestLength
+# end
+
+# function updateTemperature(currentRestLength,currentTimeStep,mat)
+#     if currentTimeStep<1000
+#         temp=-5.0*currentTimeStep/1000
+#         currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)
+#     elseif currentTimeStep==2500
+#         temp=0
+#         currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)
+#     end
+#     return currentRestLength
+# end
+
+
+function updateTemperature(currentRestLength,currentTimeStep,mat)
+    cte=mat.cTE
+    factor=0.4;
+    interval=2000.0*5.0/1.0
+
+    currentTimeStep1=currentTimeStep
+    if (mat.nu<0.0)
+        currentTimeStep1+=interval
+    end
+
+    if abs(cte)>0.3
+        currentTimeStep1+=interval/2.0
+    end
+
+
+    t=floor(currentTimeStep1/interval)
+    t1=currentTimeStep1-t*interval
+
+    
+
+    if t%2.0!=0.0
+        if (cte<0.0)
+            currentRestLength=mat.L-factor*mat.L*(1.0-(t1)/interval);
+        elseif (cte>0.0)
+            currentRestLength=mat.L-factor*mat.L*((t1)/interval);
+        else
+            currentRestLength=mat.L;
+        end
+    else
+        if (cte>0.0)
+            currentRestLength=mat.L-factor*mat.L*(1.0-(t1)/interval);
+        elseif (cte<0.0)
+            currentRestLength=mat.L-factor*mat.L*((t1)/interval);
+        else
+            currentRestLength=mat.L;
+        end
+    end
+    return currentRestLength
+end
+
+
+function floorPenetration(x,y,nomSize)
+    floor=0.001*1.2
+    # floor=0.0
+    p=0.0
+    d=10.0
+    if(y<floor)
+    # if(y<floor&& (x<5.0*d || x>=14.0*d))
+        p=floor-y
+    end
+    return p
+end
+#Returns the interference (in meters) between the collision envelope of this voxel and the floor at Z=0. Positive numbers correspond to interference. If the voxel is not touching the floor 0 is returned.
+
+
+function penetrationStiffness(E,nomSize)
+    return (1.0*E*nomSize)
+end 
+
+function floorForce!(dt,pTotalForce,pos,linMom,FloorStaticFriction,N_material)
+    E=convert(Float64,N_material.E)
+    nomSize=convert(Float64,N_material.nomSize)
+    mass=convert(Float64,N_material.mass)
+    massInverse=convert(Float64,N_material.massInverse)
+    muStatic=convert(Float64,N_material.muStatic)*1.0
+    muKinetic=convert(Float64,N_material.muKinetic)*100.0
+    _2xSqMxExS=convert(Float64,N_material._2xSqMxExS)
+    zetaCollision=convert(Float64,N_material.zetaCollision)
+    
+    CurPenetration = floorPenetration(convert(Float64,pos.x),convert(Float64,pos.y),nomSize); #for now use the average.
+
+
+    if (CurPenetration>=0.0)
+        vel = linMom*Vector3((massInverse),(massInverse),(massInverse)) #Returns the 3D velocity of this voxel in m/s (GCS)
+        horizontalVel= Vector3(convert(Float64,vel.x), 0.0, convert(Float64,vel.z));
+        
+        normalForce = penetrationStiffness(E,nomSize)*CurPenetration;
+        pTotalForce=Vector3( pTotalForce.x, convert(Float64,pTotalForce.y) + normalForce - collisionDampingTranslateC(_2xSqMxExS,zetaCollision)*convert(Float64,vel.y),pTotalForce.z)
+        #in the z direction: k*x-C*v - spring and damping
+
+        if (FloorStaticFriction) #If this voxel is currently in static friction mode (no lateral motion) 
+            # assert(horizontalVel.Length2() == 0);
+            surfaceForceSq = convert(Float64,(pTotalForce.x*pTotalForce.x + pTotalForce.z*pTotalForce.z)); #use squares to avoid a square root
+            frictionForceSq = (muStatic*normalForce)*(muStatic*normalForce);
+
+
+            if (surfaceForceSq > frictionForceSq) 
+                FloorStaticFriction=false; #if we're breaking static friction, leave the forces as they currently have been calculated to initiate motion this time step
+            end
+
+        else  #even if we just transitioned don't process here or else with a complete lack of momentum it'll just go back to static friction
+            #add a friction force opposing velocity according to the normal force and the kinetic coefficient of friction
+            leng=sqrt((convert(Float64,vel.x) * convert(Float64,vel.x)) + (0.0 * 0.0) + (convert(Float64,vel.z) * convert(Float64,vel.z)))
+            if(leng>0)
+                horizontalVel= Vector3(convert(Float64,vel.x)/(leng),0.0,convert(Float64,vel.z)/(leng))
+            else
+                horizontalVel= Vector3(convert(Float64,vel.x)*(leng),0.0,convert(Float64,vel.z)*(leng))
+
+            end   
+            pTotalForce = pTotalForce- Vector3(muKinetic*normalForce,muKinetic*normalForce,muKinetic*normalForce) * horizontalVel;
+        end
+
+    else 
+        FloorStaticFriction=false;
+    end
+    
+    
+    
+    return pTotalForce,FloorStaticFriction
+end