diff --git a/app/main.py b/app/main.py
index bc28f41..84963a2 100644
--- a/app/main.py
+++ b/app/main.py
@@ -1,32 +1,26 @@
 import harfang as hg
 import requests
 import socket
-from math import pi
 from statistics import median
 import math
 from OrbitalCam import OrbitalController
+from enum import Enum
 
 str_error = "The robot is not connected"
 
 # helpers
-
-
 def clamp(v, v_min, v_max):
 	return max(v_min, min(v, v_max))
 
-
 def rangeadjust_clamp(k, a, b, u, v):
 	return rangeadjust(clamp(k, a, b), a, b, u, v)
 
-
 def rangeadjust(k, a, b, u, v):
 	return (k - a) / (b - a) * (v - u) + u
 
-
 def lerp(k, a, b):
 	return a + (b - a) * k
 
-
 # look for the poppy on the network
 url = ""
 try:
@@ -42,13 +36,14 @@ def lerp(k, a, b):
 mouse = hg.Mouse()
 
 res_x, res_y = 1920, 1080
-
+WIDTH, HEIGHT = res_x, res_y
 # initialize lists and variables for toggle button (swipe style)
 mousexlist = []
 mouseylist = []
 has_switched = False
 compliance_mode = False
 compliance_lerp = True
+ui_interaction_mode = False
 
 
 win = hg.NewWindow("Harfang - Poppy", res_x, res_y, 32)  # , hg.WV_Fullscreen)
@@ -56,7 +51,7 @@ def lerp(k, a, b):
 hg.RenderReset(res_x, res_y, hg.RF_MSAA8X | hg.RF_FlipAfterRender |
 			   hg.RF_FlushAfterRender | hg.RF_MaxAnisotropy)
 
-hg.AddAssetsFolder("resources_compiled")
+hg.AddAssetsFolder("../resources_compiled")
 
 # AAA render params
 aaa_config = hg.ForwardPipelineAAAConfig()
@@ -178,15 +173,17 @@ def lerp(k, a, b):
 app_clock = 0
 app_status = "dancing"
 
-
 def toggle_button(label, value, x, y):
 	global has_switched
+
+	#Target for user interaction
 	mat = hg.TransformationMat4(
 		hg.Vec3(x, y, 1), hg.Vec3(0, 0, 0), hg.Vec3(1, 1, 1))
 	pos = hg.GetT(mat)
 	axis_x = hg.GetX(mat) * 56
 	axis_y = hg.GetY(mat) * 24
 
+	#Rectangular zone drawn on scren who depends on var "value"
 	toggle_vtx = hg.Vertices(vtx_layout, 4)
 	toggle_vtx.Begin(0).SetPos(
 		pos - axis_x - axis_y).SetTexCoord0(hg.Vec2(0, 1)).End()
@@ -199,8 +196,9 @@ def toggle_button(label, value, x, y):
 	toggle_idx = [0, 3, 2, 0, 2, 1]
 
 	hg.DrawTriangles(view_id, toggle_idx, toggle_vtx, shader_for_plane, [], [
-		texture_on if value else texture_off], render_state_quad)
+	 	texture_on if value else texture_off], render_state_quad)
 
+	#if player click on interactive zone
 	if mouse.Down(hg.MB_0):
 		mousexlist.append(mouse.X())
 		mouseylist.append(mouse.Y())
@@ -209,6 +207,7 @@ def toggle_button(label, value, x, y):
 		mouseylist.clear()
 		has_switched = False
 
+	#Then code verify if player clicked many time to get median value from mouse positions
 	if len(mousexlist) > 20:
 		mousexlist.pop(0)
 	if len(mouseylist) > 20:
@@ -217,12 +216,15 @@ def toggle_button(label, value, x, y):
 	if len(mouseylist) > 0:
 		mouse_x = median(mousexlist)
 		mouse_y = median(mouseylist)
+
+		#if mouse is in rectancle zone defined by our vertices
 		if mouse_x > pos.x - axis_x.x and mouse_x < pos.x + axis_x.x and mouse_y > pos.y - axis_y.y and mouse_y < pos.y + axis_y.y and not has_switched:
 			value = True if not value else False
 			has_switched = True
 			mousexlist.clear()
 			mouseylist.clear()
 
+	#This is the text asociated to the interactive zone next to it 
 	mat = hg.TranslationMat4(hg.Vec3(pos.x + axis_x.x + 10, y - 10, 1))
 	hg.SetS(mat, hg.Vec3(1, -1, 1))
 	hg.DrawText(view_id,
@@ -232,10 +234,8 @@ def toggle_button(label, value, x, y):
 				[font_color_white], [], text_render_state)
 	return value
 
-
 buttonlist = [[100, res_y - 80]]
 
-
 def is_switching():
 	for i in buttonlist:
 		mat = hg.TransformationMat4(
@@ -318,32 +318,88 @@ def get_v_from_dancing(id_robot):
 	send_dt = 1/10  # send information to the poppy every send_dt
 
 	# get values from the real robot
+
+	if ui_interaction_mode:
+		compliance_mode = False
+		app_status = "None"
+
+		if mouse.Down(hg.MB_0):
+			mousexlist.append(mouse.X())
+			mouseylist.append(mouse.Y())
+		else:
+			mousexlist.clear()
+			mouseylist.clear()
+			has_switched = False
+
+		if len(mousexlist) > 20:
+			mousexlist.pop(0)
+		if len(mouseylist) > 20:
+			mouseylist.pop(0)
+
+		if len(mouseylist) > 0:
+			mouse_x = median(mousexlist)
+			mouse_y = median(mouseylist)
+
+		Sx = 0.0
+		Sy = 0.0
+
+		Ex = WIDTH
+
+		interactable_rectangles = []
+
+		for i in range(1, 7):
+
+			Ey = (HEIGHT / 6) * i
+
+			rectangle = hg.Rect(Sx, Sy, Ex, Ey)
+			interactable_rectangles.append(rectangle)
+
+			Sy = Ey
+
+
+		for i in range(len(interactable_rectangles)):
+			inter_sx =	 interactable_rectangles[i].sx
+			inter_sy = interactable_rectangles[i].sy
+			inter_ex = interactable_rectangles[i].ex
+			inter_ey = interactable_rectangles[i].ey
+
+			if mouse.Down(hg.MB_0):
+				if mouse_x > inter_sx and mouse_x < inter_ex and mouse_y > inter_sy and mouse_y < inter_ey:
+					hg_m = hg_motors[i]
+					new_motor_angle = rangeadjust(mouse_x, 0, WIDTH, hg_m["lower_limit"], hg_m["upper_limit"]) #rename
+					hg_m["v"] = new_motor_angle
+
+	if not compliance_mode and not ui_interaction_mode:
+		app_status = "dancing"
 	if compliance_mode:
 		timer_requests_not_overload += hg.time_to_sec_f(dt)
-		if timer_requests_not_overload > send_dt:
-			timer_requests_not_overload = 0
+		ui_interaction_mode = False
+	if timer_requests_not_overload > send_dt:
+		timer_requests_not_overload = 0
 
-			if url != "":
-				try:
-					r = requests.get(url + "/motors/get/positions").text
-					for id, m in enumerate(hg_motors):
-						hg_m = hg_motors[id]
-						hg_motors_previous[id][0] = hg_m["v"]
-						hg_motors_previous[id][1] = hg.GetClock()
-						hg_m["v"] = float(r.split(';')[id])
-						if id == 5:
-							# send negative value for claw motor angle ()
-							hg_m["v"] = -float(r.split(';')[id])
+		if url != "":
+			try:
+				r = requests.get(url + "/motors/get/positions").text
+				for id, m in enumerate(hg_motors):
+					hg_m = hg_motors[id]
+					hg_motors_previous[id][0] = hg_m["v"]
+					hg_motors_previous[id][1] = hg.GetClock()
+					hg_m["v"] = float(r.split(';')[id])
+					if id == 5:
+						# send negative value for claw motor angle ()
+						hg_m["v"] = -float(r.split(';')[id])
 
-				except:
-					print("Robot not connected " + url)
+			except:
+				print("Robot not connected " + url)
 
 	# set 3D mesh with the current motor pos
+
+	v = 0
 	for id, m in enumerate(hg_motors):
 		hg_m = hg_motors[id]
 
 		# check if we are getting value from the real root
-		if compliance_mode:
+		if compliance_mode or ui_interaction_mode:
 			v = hg_m["v"]
 		else:  # sending value to the real robot
 			if app_status == "dancing":
@@ -375,22 +431,22 @@ def get_v_from_dancing(id_robot):
 				# set the position to the virtual robot
 				rot = hg.Vec3(0, 0, 0)
 				if hg_m["axis"] == "X":
-					rot = hg.Vec3(-new_v*pi/180.0, 0, 0)
+					rot = hg.Vec3(-new_v*math.pi/180.0, 0, 0)
 				elif hg_m["axis"] == "Y":
-					rot = hg.Vec3(0, -new_v*pi/180.0, 0)
+					rot = hg.Vec3(0, -new_v*math.pi/180.0, 0)
 				elif hg_m["axis"] == "Z":
-					rot = hg.Vec3(-1.57, 0, -new_v*pi/180.0)
+					rot = hg.Vec3(-1.57, 0, -new_v*math.pi/180.0)
 
 				hg_m["n"].GetTransform().SetRot(rot)
 
 		else:
 			rot = hg.Vec3(0, 0, 0)
 			if hg_m["axis"] == "X":
-				rot = hg.Vec3(-v*pi/180.0, 0, 0)
+				rot = hg.Vec3(-v*math.pi/180.0, 0, 0)
 			elif hg_m["axis"] == "Y":
-				rot = hg.Vec3(0, -v*pi/180.0, 0)
+				rot = hg.Vec3(0, -v*math.pi/180.0, 0)
 			elif hg_m["axis"] == "Z":
-				rot = hg.Vec3(-1.57, 0, -v*pi/180.0)
+				rot = hg.Vec3(-1.57, 0, -v*math.pi/180.0)
 
 			hg_m["n"].GetTransform().SetRot(rot)
 
@@ -573,6 +629,8 @@ def get_v_from_dancing(id_robot):
 	if compliance_mode:
 		compliance_lerp = toggle_button(
 		"Motion Interpolation ON" if compliance_lerp else "Motion Interpolation OFF", compliance_lerp, 100, res_y - 180)
+	ui_interaction_mode = toggle_button(
+		"Interaction Mode ON" if ui_interaction_mode else "Interaction Mode OFF", ui_interaction_mode, 100, res_y - 280)
 
 	view_id += 1